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DC motor controller using linear quadratic regulator (LQR) algorithm implementation on PIC / Nur Iznie Afrah Mohd Isa

By:

Nur Iznie Afrah Mohd Isa

Material type: Text

TextPublication details: Kuantan, Pahang : UMP, 2008Description: 71 p. : ill. (some. col.) ; 30 cm. + 1 computer discISBN:

THE0006990(Local)

Other title:

DC motor controller using linear quadratic regulator (LQR) algorithm implementation on PIC [electronic resource]

Subject(s):

Dissertation note: Project paper (Bachelor of Electrical Engineering) -- Universiti Malaysia Pahang - 2008 Abstract: Linear Quadratic Regulator (LQR) algorithm is one of the controller methods to control a system. In this project, the LQR was implemented on the PIC microcontroller to control the dc motor. The main objective of this controller is to minimize the deviation of the speed of dc motor. Dc motor speed is controlled by its driving voltage. The higher the voltage, the higher the motor speed. The speed of the motor is specifying that will be the input voltage of the motor and the output will be compare with the input. As the result, the output must be the same as or approximately the same as the input voltage. In this project, the LQR algorithm was implemented on the PIC microcontroller so the result can be shown. Before the implementation on the PIC, the dc motor state-space has to be derived. Then, from the state-space, we can design the LQR controller by using the MATLAB software. The stable system is got by tuning the Q and R value that can be seen by the simulation.

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Holdings ( 2 )
Title notes ( 2 )

Holdings
Item type	Current library	Call number	Copy number	Status	Date due	Barcode
Final Year Report	UMPLIB PEKAN	TK7872.P76 N87 2008 rs Bc. (Browse shelf(Opens below))	1	Not for loan		0000037258
Final Year Report	UMPLIB PEKAN	CD 3193 \| TK7872.P76 N87 2008 rs Bc. (Browse shelf(Opens below))	1	Not for loan		0000037259

Project paper (Bachelor of Electrical Engineering) -- Universiti Malaysia Pahang - 2008

Linear Quadratic Regulator (LQR) algorithm is one of the controller methods to control a system. In this project, the LQR was implemented on the PIC microcontroller to control the dc motor. The main objective of this controller is to minimize the deviation of the speed of dc motor. Dc motor speed is controlled by its driving voltage. The higher the voltage, the higher the motor speed. The speed of the motor is specifying that will be the input voltage of the motor and the output will be compare with the input. As the result, the output must be the same as or approximately the same as the input voltage. In this project, the LQR algorithm was implemented on the PIC microcontroller so the result can be shown. Before the implementation on the PIC, the dc motor state-space has to be derived. Then, from the state-space, we can design the LQR controller by using the MATLAB software. The stable system is got by tuning the Q and R value that can be seen by the simulation.