Controller Design for a Limited Angle Torque Motor and dsPIC Implementation

Abstract

This study addresses the modeling of a LAT motor in Simulink environment and then designing and testing various controllers for this model. The LAT motor model is first expressed using equations which describe the DC motor dynamics. Then a simulation model is created using these equations. The non-linear part stemming from the limited torque angle of the motor is also added to the model. PID and cascaded PID controllers are designed for the model using classical design methods and parameters satisfying the design criteria are calculated. For testing the controllers on hardware using a real LAT motor, the controller codes are generated using Embedded Coder and embedded on a dsPIC microcontroller. The test data are then analyzed and the controller performances are evaluated.