A Tutorial on Dynamic Simulation of DC Motor and Implementation of Kalman Filter on a Floating Point DSP

Authors: Padmakumar S., Vivek Agarwal, Kallol Roy

Abstract:

With the advent of inexpensive 32 bit floating point digital signal processor-s availability in market, many computationally intensive algorithms such as Kalman filter becomes feasible to implement in real time. Dynamic simulation of a self excited DC motor using second order state variable model and implementation of Kalman Filter in a floating point DSP TMS320C6713 is presented in this paper with an objective to introduce and implement such an algorithm, for beginners. A fractional hp DC motor is simulated in both Matlab® and DSP and the results are included. A step by step approach for simulation of DC motor in Matlab® and “C" routines in CC Studio® is also given. CC studio® project file details and environmental setting requirements are addressed. This tutorial can be used with 6713 DSK, which is based on floating point DSP and CC Studio either in hardware mode or in simulation mode.

Keywords: DC motor, DSP, Dynamic simulation, Kalman Filter

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1333152

References:

[1] Simulink® ÔÇÿSimpowersystem- documentation, pp 2.87-2.97
[2] Grewal M. S and Andrews A. P, ÔÇÿKalman Filtering theory and practice-, book by Englewood Cliffs, Prentice Hall, 1993.
[3] Peter. S Maybeck,- Stochastic models-estimation and control- Vol. 1, Academy press, New York, 1982.
[4] Spectrum Digital product catalog for DSK 6713:
[5] CC studio programmer-s manual by TI®