partykusz/pid_for_dc_motor

PID Controller for DC motors

A project to study the characteristics of a DC motor, determine the PID controller settings based on the model, and control the motor using a previously designed controller.

Used hardware

• uC: STM32F303k8
• Motor: Pololu 2204
• Encoder: Pololu 4761
• Driver: TB6612FNG

PID

• sampling time: 10ms

Step response of the motor

To measure the step response, set the STEP_RESPONSE constant to 1 in the Core/Src/main.c file and upload program to stm32. On the pc, run the port.cpp program, which will receive and write the data to a file.

PID settings

The previously saved step response file should be completed with a column containing the step PWM value, it should look like this:

0	0
1020	33.3333
1020	133.333
1020	200
1020	233.333
1020	250
1020	266.667
1020	283.333
1020	283.333
1020	300
....

then run the engine.m script in Matlab, which will determine the PID settings based on the data in the file.

PID controller

In the Core/Src/main.c file, change the value of the STEP_RESPONSE constant to 0, enter the controller settings calculated by matlab. Now your motor is controlled by the PID!