Hello all,
I need to code an Arduino program to tune a PID controller to reduce overshoot in reference tracking or to improve rejection of a disturbance at the plant input. I am using Arduino uno, dc motor with a magnetic encoder JGA25-370-CE DC12V250RPM, and L298N as a motor driver. The motor voltage (or speed) is the reference that I need to track. The plant input is a step input.
Thanks!
This appears like a motor without a load, they are almost impossible to get to come to speed and not overshoot. If I am wrong fill in the missing parts.
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The load is external you may use weights, but I am going to use my hand trying to slow down the motor speed.
This image from this website: Information | Free Full-Text | Active Disturbance Rejection Control for DC Motor Laboratory Plant Learning Object (mdpi.com), showing the setup
The picture shows an OPTICAL speed encoder, not a magnetic speed encoder. Which one do you have?
I have a magnetic encoder
Ok. How many pulses per revolution?
11 pulse/revolution and 370 gear ratio
What is this input?
Welcome! the L298N Is an obsolete part. You will have about a 3.5V drop from the power source and the motor. Using one with MOSFETS would be a better choice and give you a more solid response. Also consider using PWM, you will probably get better control and much easier to do with an Arduino.
The input is a step unit input to test the system response.
I am already using the PWM technique, I didn't use MOSFETs before I will look at them.
Thanks!
Your welcome, let us know how it works out. Think of the motor having a flywheel (the armature). That stores energy and slows down the acceleration and deacceleration.
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