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Help : DC-motor control



Jan 1, 1970
Hello everybody

I have bought an actuator (LINAK PLC LA12)

Datasheet is here :

I have removed the circuit that regulates the piston. All that is left is
the mechanical system between the permanent magnet DC-motor and the piston.

I have a microcontroller that is able to generate PWM-signals. The
microcontroller also has an A/D-port, which I will use to gain
feedback-information that is necessary to regulate the position of the

Between the stripped actuator and the microcontroller, there will be an
interface. This interface will consist of an amplifier and a H-bridge. The
H-bridge will control the spin-direction of the motor based on a PWM-signal
from the microcontroller. I have to build this circuit.

I need to make a software algorithm that regulates the position of the
piston according to a desired, pre-defined position P. The software sets up
the right PWM-signal and sends it to the interface. The software receives
information about the state of the actuator and corrects errors by adjusting
the PWM-signal. The correction continues until the desired position has been

How do I make the algorithm? And how do I make the interface?




Jan 1, 1970
How do I make the algorithm?

Proportional control.

read the a/d 0-255. This is position. You know where you want it to be. This is
demand (also in range 0-255). Compute error=demand-position. Now compute the
drive signal, which is proportional to the error drive=K*error. A good K might
be 1 or 1/2. This gives you a drive 0-255 to stick in the pwm register. Repeat
real fast. If it oscillates, reduce k. Tricks to add integral and derivative
terms to the drive signal will be gladly explained later is need be.....


Jan 1, 1970
Thanks alot. I appreciate any help I can get.

So here is some more info on what I am going to do:

The yaw system in todays wind turbines are driven by
motors. The project I am working on is aimed at
removing the motordriven yaw-system and making the
pitch-regulation more advanced, that is:

The goal is to make a yaw-system based on pitch-regulation
of the rotor blades.

The wind turbine we are using is Whisper H80. As there is no
pitch-regulation in this wind turbine, we modify the rotor blades so
they can be pitched. An actuator (Linak PLC LA12) is mounted
on each wing. When the piston goes forward/backward, the wing
is pitched in an angle between 0 degrees and X degrees. When the
rotor blades are rotating and we pitch one or more blades, the created
torque/momentum (i dont know what u call it?) will make the nacelle
rotate (yaw).

This is the mechanical part of the project.

We need to make a PID-regulation system where

1) We want the wind turbine to point in a desired direction (yaw angle)
2) We calculate how the rotorblades should be pitched
3) We calculate to which position and with how much speed the pistons should
move in order to obtain the desired/calculated pitchangles.
In this calculation we also take into consideration the load that the
actuators are experiencing.
4) Based on these calculations, we derive what the PWM-signals should look
like and send these PWM-signals
to the actuator.

The regulation system is going to be implemented as software in a
(Keil MCB167-NET). The microcontroller run at 20 MHz.

Any helpful information will be appreciated :eek:)