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learn:courses:unit-6-lab6b:start [2017/04/14 18:00] – [Listing 7.1. Pseudo Code for Digital PI Controller] Marthalearn:courses:unit-6-lab6b:start [2022/10/04 11:38] (current) – external edit 127.0.0.1
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 ====== Lab 6b: Closed-loop Process Control ====== ====== Lab 6b: Closed-loop Process Control ======
 +[[{}/learn/courses/unit-6/start|Back to Unit 6]]
 +[[{}/learn/courses/unit-6-lab6a/start|Back to Lab 6a]]
  
 === Download This Document === === Download This Document ===
-  * {{ :learn:courses:unit-6-lab6b:lab_6b.pdf |Lab 6b PDF}}+{{ :learn:courses:unit-6-lab6b:lab_6b.pdf |Lab 6b PDF}}
  
  
 ===== 1. Objectives ===== ===== 1. Objectives =====
-  * Generate PWM outputs to implement analog motor supply voltage. +  - Generate PWM outputs to implement analog motor supply voltage. 
-  * Implement a tachometer operation using PIC32 Timers. +  - Implement a tachometer operation using PIC32 Timers. 
-  * Develop MPLAB X projects that implement closed-loop motor control. +  - Develop MPLAB X projects that implement closed-loop motor control. 
-  * Develop the C program code to implement a PI controller and a moving averaging digital filter. +  - Develop the C program code to implement a PI controller and a moving averaging digital filter. 
-  * Manage multiple background tasks in an interrupt driven system. +  - Manage multiple background tasks in an interrupt driven system. 
-  * Send real-time data to monitoring devices.+  - Send real-time data to monitoring devices.
  
  
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 ===== 2. Basic Knowledge ===== ===== 2. Basic Knowledge =====
-  * Fundamental knowledge of linear systems.  +  - Fundamental knowledge of linear systems.  
-  * How to configure IO pins on a Microchip® PIC32 PPS microprocessor.  +  - How to configure IO pins on a Microchip® PIC32 PPS microprocessor.  
-  * How to implement a real-time system using preemptive foreground-background task control. +  - How to implement a real-time system using preemptive foreground-background task control. 
-  * How to generate a PWM output with the PIC32 processor. +  - How to generate a PWM output with the PIC32 processor. 
-  * How to configure the Analog Discovery 2 to display logic traces. +  - How to configure the Analog Discovery 2 to display logic traces. 
-  * How to implement the design process for embedded processor based systems.+  - How to implement the design process for embedded processor based systems.
  
 ---- ----
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 ===== 3. Equipment List ===== ===== 3. Equipment List =====
 ==== 3.1. Hardware ==== ==== 3.1. Hardware ====
-  * [[http://store.digilentinc.com/basys-mx3-pic32mx-trainer-board-recommended-for-embedded-systems-courses/|Basys MX3 trainer board]] +  - [[https://digilent.com/shop/basys-mx3-pic32mx-trainer-board-for-embedded-systems-courses/|Basys MX3 trainer board]] 
-  * Workstation computer running Windows 10 or higher, MAC OS, or Linux +  - Workstation computer running Windows 10 or higher, MAC OS, or Linux 
-  * 2 [[http://store.digilentinc.com/usb-a-to-micro-b-cable/|Standard USB A to micro-B cables]] +  - 2 [[https://digilent.com/shop/usb-a-to-micro-b-cable/|Standard USB A to micro-B cables]] 
-  * [[http://store.digilentinc.com/motor-gearbox-1-19-gear-ratio-custom-12v-motor-designed-for-digilent-robot-kits/|5V DC motor with tachometer]] +  - [[https://digilent.com/shop/dc-motor-gearbox-1-19-gear-ratio-custom-12v-motor-designed-for-digilent-robot-kits/|12V DC motor with tachometer]] 
-  * [[http://store.digilentinc.com/5v-2-5a-switching-power-supply/|5V, 2.5A power supply]]+  - [[https://digilent.com/shop/5v-4a-switching-power-supply/|5V, 4A DC power supply]]
  
 In addition, we suggest the following instruments: In addition, we suggest the following instruments:
  
-  * [[http://store.digilentinc.com/analog-discovery-2-100msps-usb-oscilloscope-logic-analyzer-and-variable-power-supply/|Analog Discovery 2]] +  - [[https://digilent.com/shop/analog-discovery-2-100ms-s-usb-oscilloscope-logic-analyzer-and-variable-power-supply/|Analog Discovery 2]] 
  
  
 ==== 3.2. Software: ==== ==== 3.2. Software: ====
 The following programs must be installed on your development workstation: The following programs must be installed on your development workstation:
-  * [[http://www.microchip.com/mplab/mplab-x-ide|Microchip MPLAB X® v3.35 or higher]] +  - [[http://www.microchip.com/mplab/mplab-x-ide|Microchip MPLAB X® v3.35 or higher]] 
-  * [[http://www.microchip.com/SWLibraryWeb/product.aspx?product=PIC32%20Peripheral%20Library|PLIB Peripheral Library]] +  - [[http://www.microchip.com/SWLibraryWeb/product.aspx?product=PIC32%20Peripheral%20Library|PLIB Peripheral Library]] 
-  * [[http://www.microchip.com/xcdemo/xcpluspromo.aspx|XC32 Cross Compiler]] +  - [[http://www.microchip.com/xcdemo/xcpluspromo.aspx|XC32 Cross Compiler]] 
-  * [[http://store.digilentinc.com/waveforms-2015-download-only/|WaveForms 2015]] (if using the Analog Discovery 2) +  - [[https://digilent.com/shop/software/digilent-waveforms/|WaveForms]] (if using the Analog Discovery 2) 
-  * [[http://www.putty.org/|PuTTY Terminal Emulation]] +  - [[http://www.putty.org/|PuTTY Terminal Emulation]] 
-  * Spreadsheet application (such as Microsoft Excel)+  - Spreadsheet application (such as Microsoft Excel)
  
  
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 ===== 4. Project Takeaways ===== ===== 4. Project Takeaways =====
-  * How to read an analog voltage with a PIC32 processor. +  - How to read an analog voltage with a PIC32 processor. 
-  * How to use the PIC32 Output Compare to implement a PWM analog output. +  - How to use the PIC32 Output Compare to implement a PWM analog output. 
-  * How to use the PIC32 Timer external input to measure frequency to implement a tachometer. +  - How to use the PIC32 Timer external input to measure frequency to implement a tachometer. 
-  * How to use the PIC32 Input Capture period measurement to implement a tachometer. +  - How to use the PIC32 Input Capture period measurement to implement a tachometer. 
-  * Fundamental analog and filtering concepts for data smoothing and closed-loop control.+  - Fundamental analog and filtering concepts for data smoothing and closed-loop control.
  
  
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       - Write to the output compare secondary registers (OCxRS) that generate the PWM output.       - Write to the output compare secondary registers (OCxRS) that generate the PWM output.
  
-{{ :learn:courses:unit-6-lab6b:unit_6_-_photo_6.jpg?nolink |Figure 8.1. LCD display for closed loop operation.}}+{{ :learn:courses:unit-6-lab6b:unit_6_-_photo_6.jpg?nolink&500 |Figure 8.1. LCD display for closed loop operation.}}
 //Figure 8.1. LCD display for closed loop operation.// //Figure 8.1. LCD display for closed loop operation.//
  
-{{ :learn:courses:unit-6-lab6b:lab6b-fig-8-2.png?nolink |Figure 8.2. Terminal screen for closed loop motor control.}}+{{ :learn:courses:unit-6-lab6b:lab6b-fig-8-2.png?nolink&500 |Figure 8.2. Terminal screen for closed loop motor control.}}
 //Figure 8.2. Terminal screen for closed loop motor control.// //Figure 8.2. Terminal screen for closed loop motor control.//
  
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 | SW6           | Run the motor according to the direction set by SW7  | Brake (STOP)                                    | | SW6           | Run the motor according to the direction set by SW7  | Brake (STOP)                                    |
 | SW7           | Rotate CCW at speed set by analog input control      | Rotate CW at speed set by analog input control  | | SW7           | Rotate CCW at speed set by analog input control      | Rotate CW at speed set by analog input control  |
 +
 +
 +----
 +
 +[[{}/learn/courses/unit-6/start|Back to Unit 6]]
 +[[{}/learn/courses/unit-6-lab6a/start|Back to Lab 6a]]
 +[[{}/learn/courses/unit-7/start|Go to Unit 7]]