PID controller using the TMS320C31 DSK with online parameter adjustment for real-time DC motor speed and position control

This paper addresses real-time DC motor speed and position control using the low-cost TMS320C31 digital signal processing starter kit (DSK). A PID controller is designed using MATLAB functions to generate a set of coefficients associated with a desired controller´s characteristics. The controller coefficients are then included in an assembly language program that implements the PID controller. Code Explorer is used to load and run the PID controller to achieve real-time control. Furthermore, the PID parameters can be adjusted while the motor is running, so that online adjustment is achieved. This avoids shutting-down the system, re-assembling and re-compiling the source code each time the PID parameters are adjusted. Both speed and position control are investigated on a DC motor system with speed feedback and position feedback. Results show the improvement of system outputs as expected with a PID controller, with actual system outputs matching theoretical calculations