Why there is a sudden jump from 0 to 2pi and from 2pi to 0 in position of DC motor in my Design in simulink? And why are the continuous simulations occurring in my design

Here is a sudden jump from 0 to 2pi and from 2pi to 0 in position of DC motor in my Design in simulink. I want to know why this is happening.

And also the oscillations are also continuous, so how can we remove the continuously occuring oscillations.

PFA for the Reference design.

Answer 1

[Ameer Hamza]

The quadrature shaft decoder outputs the current angle of motor's shaft, which can only vary between [0, 2*pi]. To convert it into a continuous signal, attach the unwarp block: https://www.mathworks.com/help/dsp/ref/unwrap.html after the position output of the decoder.

[Ayush Srivastava]

And what about the continuous oscillations?

[Ameer Hamza]

I guess that is caused by the control algorithm you used.

[Ayush Srivastava]

ok thanks....but is there any way to remove the osciilations?

[Ayush Srivastava]

By increasing the P or D in PID controller, can we remove the oscillations?

[Ameer Hamza]

It can surely be possible to tune the controller parameters to remove the oscillations, but which parameter to tune will require the background knowledge about the problem. I am not sure whether merely increasing the P or D can remove the oscillations.