Position Control of a DC Motor with MATLAB using a Raspberry pi

Objective

• To develop a PD controller for a motor to precisely follow the position.
• The input is a sine wave and the objective is for the motor to follow the sine wave position signal.
• Run the model in real time using WiFi.

Circuit Diagram

Motors Pins	GPIO pins
C1 (Encoder Pulse A)	6
C2 (Encoder Pulse B)	5
IN1	23
IN2	24
ENA (PWM PIN)	21

Setup

Simulink Model

• A discrete sine wave is give as input to the motors.
• The input signal is split into two parts, "magnitude" and "direction".
• The "direction" is used to control the direction of rotation of the motor at GPIO's 23 and 24.
• The "magnitude" is sent a PWM signal to the motor driver at GPIO 21.
• The simulink model is a closed loop control system with a PD controller receiving feedback from the motor encoder at GPIO's 5 and 6.
• Data is logged for the input sine wave and the output from the encoder for plotting and analysis.

Output Graph

Working Video