PID Control Learning System Part 2
In this post I will detail the hardware used for the motor PID control expereiments. You should refer to these posts for background information.
Here is a list of the hardware parts that make up the test framework and circuit:
- mBuino microcontroller
- L298 H-Bridge Module (SainSmart L298N Dual H Bridge Stepper Motor Driver Controller Board Module for Arduino Robot)
- Resitors 220, 100, 10K ohm
- Various jumper wires, usb cables, etc.
- A personal computer compatable with the mBuino (I use a Mac Book)
- 24 Volt Motor with decouling capacitors to reduce motor noise
- A way to measure RPM – see Measuring DC Motor Speed Using a Optointerrupter
- A mounting system for the motor and photointerrupter
- A power supply to drive the DC Brushed Motor Extech 382260 80W Switching Mode DC Power Supply
- Actobotics hardware used for the motor test frame.
You can do these experiments with just about any DC brushed motor, a suitable power supply and PWM based motor controller. In later blog post I will include the code for these tests. But for now I’m justing listing and showing the hardware.
I’m lucky to have a great power supply, but a wall wart or battery will work fine as long it supports the current drain of your motor.
Motor, Test Framework and Photointerrput Device
Closeup of the disc used with the photointerrupter
Scavanged photointerrupter attached to hook and loop material with epoxy
The PWM based Motor Controller (2 channels, using on one channel for now)
The Breadboard with the Motor Controller Attached
You can create your own test framework for these experiments. Measuring RPM can be done several ways in addition to using a photointerrupt circuit. Hall Effect transistors are commonly used as well. You should be able to use many Arduino models, mbed platforms or other microcontrollers. What is important is measuring the speed of the motor (RPM) accurately and having a PWM based motor controller to change the motor speed.