Project Files of DC Motor Speed and Position Control Lab Library for Proteus

DC MOTOR SPEED AND POSITION CONTROL LAB LIBRARY FOR PROTEUS - V1.0 (a motor, flywheel and encoder lab, with a pop-up)
Designed by The Engineering Projects
www.TheEngineeringProjects.com

IMPORTANT LINKS
Article (read it first - pictures, step by step, every feature explained):
  https://www.theengineeringprojects.com/2026/11/dc-motor-speed-and-position-control-lab-library-for-proteus.html
Report a bug or suggest a feature (our forum):
  https://www.theengineeringprojects.com/forum/category/dc-servo-lab-proteus-library
The demo runs on our Arduino UNO V4.0 (included) - working LEDs, RESET and a
built-in serial monitor, no Virtual Terminal to wire - its own article:
  https://www.theengineeringprojects.com/2026/10/arduino-uno-library-for-proteus-v40.html
The demo drives the lab with our L9110S Motor Driver - a SEPARATE library, not in this zip; install it first:
  https://www.theengineeringprojects.com/2026/10/l9110s-motor-driver-library-for-proteus-v1-0.html
Support us (the libraries are free):
  https://www.theengineeringprojects.com/donate

FILE STRUCTURE
DC-Servo-Lab-TEP-v1.0/
|-- Proteus Library Files/
|   |-- ArduinoV4TEP.LIB                              201.9 KB   TEP Arduino boards V4.0 (UNO) -> LIBRARY
|   |-- TEPSERVOLAB.LIB                                17.2 KB   the library -> LIBRARY folder
|-- Proteus Model Files/
|   |-- TEPARDUINO.DLL                                883.5 KB   the Arduino board model -> MODELS folder
|   |-- TEPSERVOLAB.DLL                               322.0 KB   the model -> MODELS folder
|-- Proteus Simulation/
|   |-- ServoLab_Demo.hex                              21.5 KB   the demo firmware
|   |-- ServoLab-PD-L9110S-ArduinoUnoV4.pdsprj         21.7 KB   the demo project
|   |-- TEPARDUINO.DLL                                883.5 KB   copy of the board model
|   |-- TEPSERVOLAB.DLL                               322.0 KB   copy of the model
|-- Arduino Code/
|   |-- ServoLab_Demo/ServoLab_Demo.ino                 5.7 KB   the demo sketch (source of the .hex)
|-- README.txt                                        ~14.5 KB   this file
Total: 2.63 MB (unzipped). The C++ source code of the models is not included.

WHAT IS IT?
A DC motor speed and position control lab, seen from above and drawn at true scale (a 64 x 52 mm
base, smaller than the UNO) - our own
design, after the motor-and-flywheel servo plants of university control courses:
  * The motor is a coreless DC motor with the values of the Allied Motion CL40 (7 W), its 24 V
    winding (model 16706): 15.6 ohm, 57 mN.m per A
    (and 57 mV per rad/s), a 4.0e-6 kg.m2 rotor; here it runs from 12 V (0.77 A at stall). On its
    shaft: a brass flywheel, 46 mm across and
    7 mm thick (99 g, 2.62e-5 kg.m2), with a scale every 10 degrees and a red index. Under it: a
    100-line optical encoder, 400 counts per turn.
  * The motor is a SPICE model between M+ and M- (any driver drives it); A and B are logic outputs,
    every edge at its time; A leads B while the
    angle grows (counter-clockwise from above). The encoder needs 5V (else A and B float); CH A, CH
    B and PWR LEDs on the base.
  * Click it at Run for the pop-up: the flywheel turning, the speed, the dial's angle and the
    voltage since the start, a bump test (any held
    voltage step) fitted live to a first-order model (K, tau) with the PD gains for 5 % overshoot
    and the peak at 0.15 s, and every
    positioning move measured: rise time, overshoot, peak time and settling time.
The body is drawn as on the real part and to true scale against our Arduino.
The TEP signature and the pop-up are TEP additions.

ONE DEVICE (search "SERVOLAB" in Pick Devices):
  DCSERVOLABTEP  "DC Servo Lab V1.0" in TEPSERVOLAB.LIB (Control Labs > Motion), prefix U, model
  TEPSERVOLAB.DLL (mixed: SPICE + digital).
                 Pins M+ / M- (the motor, from a driver), A / B (the encoder), 5V / GND (the
                 encoder's supply).

THE POP-UP
Click the part at Run. Tabs:
    Lab        the flywheel from above (its index at the angle, a blur when it spins, the CH A / CH
    B / PWR LEDs), the speed, the dial's angle
               and the motor voltage since the start with the fitted bump test dashed over the
               speed, and eight live values: the dial's angle
               and the count, the speed, the motor's voltage and current, the encoder's counts a
               second and A / B, the model (K, tau), the PD
               gains (V/rad, V.s/rad), the last move (overshoot, settling) and the gains per count
               on a 12 V driver.
    Graphs     the live values over the last 2, 6 or 15 s. Live / Freeze.
    Event log  every change and warning; filters All / Changes / Warnings, Pause, Clear
    Check      what the part is doing and what to look at, each with a verdict (green = fine, amber
    = check, red = wrong)
    Settings   theme, text size, open at Run, window size
    Help       report a bug, suggest a feature, article, updates, donate, forum; Copy diagnostics
    for a bug report

TEST STATUS
V1.0: verified in Proteus 8.5 on 7 Nov 2026 (the demo project as shipped: an A4 sheet, an Arduino UNO V4.0).
What the runs showed (the model's own numbers and the sketch's monitor):
  * The project loads and starts cleanly; the demo runs 8.6 simulated seconds in under two minutes
    on our PC.
  * The bump test: 20 % (2.31 V) from 0.24 s, then 40 % at 1.25 s - 2.38 to 4.79 V on the motor, 380
    to 778 RPM. The pop-up fitted it as the
    speed answered: K 17.47 rad/s per V (167 RPM per V), tau 179 ms, dead time 3 ms, the fit
    explaining 99.4 % of the response. For 5 %
    overshoot and the peak at 0.15 s it gave Kp 8.57 V/rad and Kd 0.351 V.s/rad - 1.122 % a count
    and 0.0460 % per count/s on the 12 V
    driver; the sketch uses 1.13 and 0.046 (from an earlier run of the same test: the fit moves in
    its third digit from run to run).
  * The PD moves (overshoot, peak time, settling to 2 %): home from -114.3 to 0 deg (1.0 %, 166 ms,
    110 ms); 0 to +90 deg (1.4 %, 162 ms,
    108 ms); +90 to -90 deg (1.7 %, 164 ms, 118 ms); -90 to 0 deg (0.0 %, 190 ms, 120 ms). The UNO
    read 0.9, 90.0, -90.0 and 0.9 deg -
    within a count of the dial (a one-count dead band switches the motor off at the target).
  * The same +90 deg move with P only (no derivative): overshoot 78.6 %, peak at 96 ms, settled in
    972 ms.
  * The encoder: up to 5,213 counts a second (782 RPM); the motor's most was 9.5 V and 537 mA.
  * The pop-up: Lab (the flywheel, the speed / angle / voltage trend with the fitted bump test, the
    model, the PD gains, the last move),
    Graphs, Event log, Check - all four pages followed the run.

INSTALLATION (about 2 minutes)
1. Close Proteus. Extract the WHOLE ZIP to a normal folder (e.g. Desktop).
2. Copy everything in "Proteus Library Files" (TEPSERVOLAB.LIB and our Arduino library V4.0,
ArduinoV4TEP.LIB, with the ARDUINO UNO V4.0 used by the demo) to the LIBRARY folder of Proteus, for
example:
     C:\Program Files (x86)\Labcenter Electronics\Proteus 8 Professional\LIBRARY
   (use the folder that already holds Proteus's own .LIB files).
3. Copy TEPSERVOLAB.DLL and TEPARDUINO.DLL from "Proteus Model Files" to the MODELS folder
(...\Proteus 8 Professional\MODELS).
4. Delete TEPSERVOLAB.IDX from the LIBRARY folder if it is there (Proteus makes a new index).
5. Start Proteus. In Pick Devices (P) search "SERVOLAB".

RUN THE DEMO
"Proteus Simulation\ServoLab-PD-L9110S-ArduinoUnoV4.pdsprj" (an A4 sheet) - keep the .hex file and
the DLLs beside the project.
  ARD1:   Arduino UNO V4.0 running ServoLab_Demo.hex, its serial monitor built in (window "TEP
  Arduino UNO - ARD1").
  DRV1:   our L9110S driver (install its library first): A-IA - D5, A-IB - D6, VCC - +12V, GND; A-OA
  / A-OB to the lab's M+ / M-.
  U1:     the lab: A - D2, B - D3 (the UNO's interrupt pins), 5V - VCC, GND.
  1. A bump test: 20 % from 0.2 s, 40 % at 1.2 s, stop at 2.4 s; the pop-up fits K and tau and gives
  the PD gains.
  2. From 3.2 s a PD loop (1.13 % a count, 0.046 % per count/s - the pop-up's gains): home to the
  dial's 0, then +90, -90 and 0 degrees.
  3. At 6.8 s the same +90 degree move with the derivative off: the flywheel rings.
Closed the monitor? Click the UNO's USB port.

WIRING (the same in Proteus and on a real board)
  M+ / M-: a motor driver's outputs (L9110S, TB6612FNG, L298N ...); A / B: two interrupt pins (D2 /
  D3 on an UNO) with a CHANGE
  interrupt on each; 5V and GND: the encoder's supply.
REAL HARDWARE:
 * A real servo lab's flywheel spins near 2,000 RPM at 12 V: keep fingers and cables clear.
 * Decode both edges of A and B in interrupts (x4): 400 counts a turn. Above a few tens of thousands
   of counts a second an UNO falls behind.
 * Identify first, then tune: a bump test gives K and tau; PD gains follow from the overshoot and
   the peak time you want.
 * Static friction leaves a count or two of error; a one-count dead band stops the loop hunting
   about the target.

THE DEMO SKETCH ON THE SERIAL MONITOR (ServoLab_Demo V1.0, 9600 baud)
There are no commands. The sketch runs the bump test, the PD moves and the P-only move, and prints
as it goes.
EXPECTED MONITOR OUTPUT
  DC Servo Lab - The Engineering Projects
  t=2.2 s: 40 %, 778 RPM
  t=4.40 s: target 90.0 deg (PD), from 0.9
  t=5.00 s: angle 90.0 deg, error 0 counts
  t=7.40 s: angle 79.2 deg, error 12 counts

PROPERTIES (double-click the part > Edit Properties)
  Encoder lines (LINES)              100 = 400 counts per turn (10 .. 2500)
  Extra friction (LOAD)              mN.m added to the shaft's 0.5 mN.m (a brake on the flywheel)
Every run starts again from the properties.

LINKS.INI (OPTIONAL)
The Help page cards of the pop-up open web pages. To point them somewhere else without a new DLL,
put a text file named links.ini next to TEPSERVOLAB.DLL with lines KEY=URL, for example:
  ARTICLE=https://www.theengineeringprojects.com/...
Keys: WEBSITE, FORUM, BUG_REPORT, FEATURE_REQUEST, ARTICLE, USER_GUIDE,
UPDATE_CHECK, DONATE. Only http:// and https:// links are used; lines starting
with # are comments.

TROUBLESHOOTING
* NO ENCODER SUPPLY: the shaft turns but the 5V pin is LOW - A and B float; connect 5V.
* The count drifts from the dial: the sketch must decode both edges of A and B (two CHANGE
  interrupts).
* The bump test is not fitted: hold a voltage for 0.15 s, then step it by 1 V or more (not to 0 V)
  and hold it until the speed settles.
* STALLED: volts on the motor and the shaft does not turn - check LOAD, or the driver's wiring.
* The part is not simulated: TEPSERVOLAB.DLL is missing from MODELS and from the project folder. No
  UNO / no monitor window: TEPARDUINO.DLL is missing, or click the UNO's USB port.

BUG REPORTS AND FEATURE REQUESTS
Please post them in our forum with a screenshot, the Serial Monitor text, the
simulation log and the pop-up's Copy diagnostics text:
  https://www.theengineeringprojects.com/forum/category/dc-servo-lab-proteus-library

SUPPORT US
This library is free. If it saves you time, please support our work:
  https://www.theengineeringprojects.com/donate

WEBSITE
  https://www.theengineeringprojects.com/

LICENCES AND THIRD-PARTY NOTES
* The model (TEPSERVOLAB.DLL), the symbols and artwork, the other parts of ours in the demo and the
  Arduino Library V4.0 (ArduinoV4TEP.LIB / TEPARDUINO.DLL, with its built-in TEP Serial Monitor
  Advance) are made by The Engineering Projects. The models use only standard Windows libraries; no
  Visual C++ redistributable is needed.
  The C++ source code is not included.
* Arduino UNO V4.0 (ArduinoV4TEP.LIB / TEPARDUINO.DLL, our Arduino Library V4.0 - its
  microcontroller is Proteus's own AVR model): The Engineering Projects,
  https://www.theengineeringprojects.com/2026/10/arduino-uno-library-for-proteus-v40.html
* The .hex file is built from the demo sketch and the Arduino AVR core 1.8.6, which includes
  LGPL-licensed code; its source code is available at
  https://github.com/arduino/ArduinoCore-avr/tree/1.8.6
* Proteus is a product of Labcenter Electronics and is not included. Arduino is a trademark of Arduino SA.
  This library is not made or endorsed by Arduino or Labcenter.

REBUILDING THE FIRMWARE (OPTIONAL)
The HEX file is supplied; Arduino IDE is not needed to run the demo. To edit the sketch, open
Arduino Code\ServoLab_Demo\ServoLab_Demo.ino, select Arduino Uno and use Sketch > Export Compiled
Binary. Replace the simulation's .hex with the exported HEX. The sketch needs 7,812 bytes of flash
and 492 bytes of RAM.

MODEL SCOPE AND LIMITS
Modelled: the motor's resistance and back-EMF, Coulomb and viscous friction (0.5 mN.m + 1e-6
N.m.s/rad), the inertia of the rotor and the
flywheel, the encoder's quadrature edges at their times, the 5V supply of the encoder.
Not modelled: the winding's inductance (2.14 mH, 0.14 ms - far faster than anything here), cogging
(a coreless motor has none), the brushes'
noise, the encoder's own jitter.

VERSION
TEP DC Servo Lab library V1.0 (Nov 2026). Device DCSERVOLABTEP (TEPSERVOLAB.LIB / TEPSERVOLAB.DLL).
Demo sketch ServoLab_Demo V1.0. Demo board: ARDUINO UNO V4.0 (TEP Arduino Library V4.0) with its
built-in serial monitor; driver: our L9110S Motor Driver (a separate library).