Date of Graduation


Document Type


Degree Name

Master of Science in Electrical Engineering (MSEE)

Degree Level



Electrical Engineering


Robert Saunders

Committee Member

Morten Olgaard Nelson

Second Committee Member

Alexander Nelson

Third Committee Member

Roy A. Mccann


Control Systems, PID Control, Pulsatile Pump


This paper describes the design and implementation of a closed-loop proportional, integral, differential (PID) control system for a custom in-house pulsatile pump apparatus for the University of Arkansas Biomedical Department. The control system is designed to control a MOONS’ PL34HD0L8500 hybrid stepper motor using a dual H-bridge motor driver network with four pulse-width modulated (PWM) inputs to drive a pulsatile pump apparatus at motor stepping frequencies up to 2kHz. The speed of the motor is controlled from a pressure profile transmitted from an external source over RS-232 communication that specifies the motor speed, number of datapoints, and an array of pressure data. Data will be measured from the pump using pressure, flow, and temperature sensors that will output analog data and be read to the control board using analog-to-digital converters (ADCs). A PID controller will be used to match the speed of the motor to the control data by calculating the error between the sensor outputs and the desired profile.

The circuit board is separated into two sections for the control board and motor circuit to isolate the 68V and motor circuity from the rest of the control board circuitry. The control system circuitry was tested, and while the control board systems were found to be functional, the motor circuit was found inefficient due to the high L/R time constant of the motor, resulting in greatly reduced speed and torque. A new chopper driver design was proposed to solve this issue and simulations conducted through MATLAB Simulink to prove the feasibility of the design.