Motor Motion Controller

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During my sophomore year at Northwestern, for my Introduction to Mechatronics class final project, I created a system that precisely controlled a DC motor.

 

The system controlled the motor to hold specific angle positions, follow cubic and step trajectories and complete a user-specified number of revolutions.

 

This system involved a PIC 32 microcontroller, an H-Bridge, a current sensor circuit, a MATLAB interface, and a PID control loop for error reduction. For this project, I wrote C code to the PIC, built the circuits, and optimized the control loop constants.