Design of a speed control system for a DC motor based on a magnetic encoder

Završni rad opisuje postupak sinteze i implementacije PI regulatora u sustavu regulacije brzine vrtnje rotora elektromotora. Za mjerenje brzine vrtnje korišten je magnetski apsolutni enkoder temeljen na Hallovom efektu. Detaljno je opisan princip rada senzora, s naglaskom na analognom naponskom signalu enkodera koji je korišten u sustavu regulacije. Provedeno je modeliranje i identifikacija parametara elektromotornog pogona, neophodno za sintezu regulatora brzine vrtnje. Računalna simulacija dinamičkog ponašanja pogona i regulatora je provedena u MATLAB Simulinku, a zatim je regulator implementiran i testiran na eksperimentalnom postavu.In this final paper procedure of PI regulator parameters estimation and its implementation into speed control system is described. Magnetic absolute encoder, based on Hall effect is used for rotational speed measurement. Work principle of used sensor, with accent on analog voltage encoder signal, which is used in control system, is detailed described. Modeling and identification of electric motor drive parameters, which are necessary for rotational speed regulator synthesis are carried out. Computer simulation of drive and regulator dynamic behavior is conducted in MATLAB Simulink. After that, regulator is implemented and tested on experimental model