EE0002 Projects 01

Speed adjustable belt scale system with DC motor

control
Instructor: Nguyen Tien Hung
Thai Nguyen University of Technology

Students: 1 Allen David Bermas

2 Judy Ann Del Rosario Batalla
3 Aldrin Reyes Armas
4 Ly Thi Hien
5 Nguyen Xuan Quang
6 Nguyen Tien Thang
7 Seng Ranika
8 Joseph Marvi Bergantinos Pujalte

Project description
Consider a speed-adjustable belt conveyor scale shown in Figure 1 (see also Example 7.8). It
consists of a weight measurement sensor (loadcell), a speed control unit with an electric motor
and drive, and a belt speed measurement structure. The continuous conveyor belt scales (or
continuous weighing devices) keep the material flux at a constant feedrate in kilograms per
second (or Ton per hour).

Hopper Induction
motor Head pulley

Tail pulley Impact Loadcell Speed Vertical

idlers sensor gravity

Figure 1: Speed adjustable belt scale system

Let Qref
t be the reference of the total feed rate (measured in Ton per hour). Let ci be the
component percentage of each material. Let Qref i be the set point for the i-th belt conveyor
rate. We have
Qref
i = Ci Qref
t

Let vi be the speed of the i-th belt conveyor, the weight of the bulk material on 1m length
of the i-th belt is denoted by wi . The flux rate of the belt conveyor is

Qi = wi vi

Assume the belt scale system consists of n belt conveyors. The total flux of these belt
conveyors is
Xn
Qt = Qi
i=1

1
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Speed adjustable belt scale system with DC motor control — 2/5

The error of the desired feed rate and the actual one is ei = Qref
i − Qi . This error will be
minimized by using a flow rate controller as shown in the following figure. The speed of the
belt is regulated by controlling the speed of the induction motor as a prime mover.
AC power
supply

+ -

Flowrate Limiter Space vector

controller modulation

Belt speed
Weight X
AC
motor
G

Figure 2: Control principle of a speed adjustable belt scale system

PID controllers
Consider a classical control loop as shown in Figure 3.

+
+ - +

Figure 3: Classical closed-loop control

Let e(t) be an error of a reference r(t) and measurement signal y(t)

e(t) = r(t) − y(t)

A PID control law is an algorithm which finds a control signal u(t) based on the system
parameters and the control error. The controller output is expressed as follows:

1 t
 Z 
de(t)
u(t) = kp e(t) + e(t)dt + Td
Ti 0 dt

where kp is a control gain, Ti and Td are integral and derivative gains, respectively.
In some cases, the controller equation can be also read as:
Z t
de(t)
u(t) = kp e(t) + ki e(t)dt + kd
0 dt
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Speed adjustable belt scale system with DC motor control — 3/5
Kp
In which ki = Ti
, and kd = Kp Td . One can also write the controller equation in the following
form
u(t) = P (t) + I(t) + D(t).
where
P (t) = kp e(t) is the proportional term,
Z t
I(t) = ki e(t)dt is the integral term,
0
de(t)
D(t) = kd is the derivative term.
dt

in

+
+
+ out
Integrator

Derivative

Figure 4: Block diagram of a PID controller

Differential forms
A simplest way to implement an PID controller is to use a backward integral approxima-
tion:
Z t n
X
e(t)dt ≈ T e(kT )
0 k=1

and backward difference approximation:

de(t) e(kT ) − e(kT − T )
≈ .
dt T
Then the controller equation now becomes
" n
#
1 X e(kT ) − e(kT − T )
u(kT ) = kp e(kT ) + T e(kT ) + Td .
Ti k=1 T

Discrete-time form
In order to have a dicrete-time representation of the controller equation, one can take the
Laplace transform that results in the following form
 
U (s) 1
= kp 1 + + Td s .
E(s) Ti s
Taking a z-transform for above equation we obtain
1 − z −1
 
U (z) T
= kp 1 + + Td .
E(z) Ti (1 − z −1 ) T
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Speed adjustable belt scale system with DC motor control — 4/5

Belt conveyor scales

The experiment model of the belt conveyor scale is shown in Figure 5.

DAC1 Motor
+ (PA4) model
-

PID Limiter
VCC controller

ADC_IN1 ADC_IN2
X X X
(PC0) (PC1)

Filter

Figure 5: Simulation model of a speed adjustable belt scale system

Discrete-time PID controller

Assume that the maximum value of the material weight w is wmax = 300 Kg/m corresponding
to 4095, the maximum value of the belt velocity v is vmax = 5 m/min. corresponding to 4095.
Thus, the material flux is Qmax = weight × speed = 300 × 5 = 1.500 Kg/min. = 1500 × 60 =
90.000 Kg/Hour = 90 Ton/Hour.
The weight coefficient is
wmax 300
kw = = ≈ 0.07326
4095 4095
The velocity coefficient is
vmax 5
kv = = ≈ 0.001221
4095 4095
Let Qref = 20 Ton/Hour = 333.3 Kg/min.
Assume that register S1 contains the required material flux Qref , register S2 contains the
real weight w, and register S3 contains the real velocity v.
The circuit of the speed adjustable belt scale system is shown in 6.
Write an Assembly program to control the speed of the belt with a DC motor such that the
feedrate is kept at the desired value Qref regardless the changes in the weight of the feeding
material.
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Speed adjustable belt scale system with DC motor control — 5/5

STM32G431RBT6
12 8 IN1 B1
PA0 PC0 RUN
13 9 IN2
PA1 PC1
14 10 B2
PA2 PC2 DEC
17 11
PA3 PC3
DAC 18 22 B3
PA4 PC4 INC
19 23
PA5 PC5 VCC
20 38 B4
PA6 PC6 STOP VCC
IN1 21 39
PA7 PC7
IN2 42 40
PA8 PC8 IN1
IN3 43 41 R2
PA9 PC9
IN4 44 52
PA10 PC10 VCC R1
53 C2
PC11 10K
24 54
PB0 PC12 18 DIGITS
25 2 ISET DIG0 - DIG7
PB1 PC13 U6
U2

14
12
RUN 26 DRV8833P
PB2
56 DIN 1
PB3 1 DIN

VINT
VM
DEC 57 nSLEEP
PB4 11 LAT 12
INC 58 VCP LOAD (CS)
PB5 55 3
59 PD2 C1 AISEN SCK 13
PB6 6 CLK SEGMENTS
STOP 60 BISEN 8 SEG A-G
PB7 M1
62 SEG DP
PB9
62 9
PB9 IN1 16 2 GND
30 AIN1
PB10 IN2 15 4 GND
33 AIN2
PB11 IN3 9 7
LAT 34 BIN1 MAX7219
PB12 IN4 10 5
SCK 35 BIN2 M2
PB13
36
PB14
DIN 37
17
13

PB15

Figure 6: Circuit of the speed adjustable belt scale system

R2

JP4

Weight displaying
Motor 1

Speed displaying

Motor 2

B4

B3
B2
B1

Figure 7: Simulation model of the speed adjustable belt scale system