Software Progress

During this week, I have met up with advisor, Mdm zaridah to get some help regarding the simulink design and theory behind the system design. From the meeting, there are some changes about the system modelling and the physical parameters for the motor.

Before this, there is a subsystem for the PID controller and since transfer function block is not needed, so the subsystem has been replaced with a PID controller block. The changes is shown in figure below:

The physical parameters use for the motor are:

R= 2.7 Ω

L= 0.004 H

Ke=0.105 Vs rad-1

Kt= 0.105 Nm A-1

J= 0.0001 Kg m2

B= 0.0000093 Nms rad

Hardware Progress

The process of etching,drilling and soldering have been completed without motor yet.

Front View

  

\

View from back

Etching & Drilling

The etching process was done manually. I had done this before during my diploma program. It is really helpful. Manual step for etching process:

1- Clean the PCB Board

2- Print the PCB layout on a piece of paper

3- Iron the printing circuit on PCB Board

4- Cut the PCB Board with required size

Use FERRIC CHLORIDE Liquid

Final step: Clean the PCB Board using Thinner liquid

50% software 60% Hardware

The designing of PCB layout has been done and will continue with the etching process by this weekend. Pheww it  is hard to minimize the number of jumper. The completed PCB layout design is shown below.

Oh before I forget, the combination of PID controller with speed and position control has been combined and the result is as shown below:

p/s: i am more worry about the software rather than hardware..oh madam help me!! (+_+)

Refreshing mood

Since the software and hardware development are in progress and still not complete yet, I take this week to take a look and understand more about the theoretical part. The most important thing behind this project is:

• The proportianal controller  (Kp) will have the effect of reducing the rise time and will reduce but never eliminate the steady state error. 
• An integral control (Ki) will have the effect of eliminating the steady state error, but it may make the transient respond worse.
• A derivative control (Kd) will have the effect of increasing the stability of system, reducing the overshoot and improving the transient respond.

Effect of the each of the controller Kp,Ki,Kd on a closed loop system are summarize in table shown below.