Penn State Erie, The Behrend College School of Engineering
|
|
- Edmund Howard
- 5 years ago
- Views:
Transcription
1 Penn State Erie, The Behrend College School of Engineering EE BD 327 Signals and Control Lab Spring 2008 Lab 9 Ball and Beam Balancing Problem April 10, 17, 24, 2008 Due: May 1, 2008 Number of Lab Periods: 3 1 Objectives In this lab, we will explore several different aspects of controller design. The objectives for this laboratory are to gain an understanding of control system design for secondorder system timedomain specifications strategies which decouple dynamics to simplify control design the effects of physical nonlinearities on design and performance We will first have to derive an analytical model for the system, perform a design study and then use SIMULINK to simulate the system response. In practice, these steps must all be completed before any hardware testing takes place. 2 Exercises The physical system is depicted in figure 1. The diagram shows a servomotor coupled to a ball and beam setup. The motor drives a lever arm which is coupled to a track upon which a rolling ball rests. The purpose of the design is to control the position of the ball along the track by manipulating the angular position of the servo. The controller is to be designed so that the ball responds to step changes in the desired ball position with low overshoot (preferably below 5%), no more than 4 seconds 5% settling time and steadystate error as small as possible. A block diagram of the proposed control configuration is shown in figure 2. There are two phases to the design. In the first phase, the inner loop, i.e., the servomotor control loop is designed. This design is to be accomplished so that the servomotor angular position response to step inputs 1
2 Figure 1: Physical plant V X,d 0.1 V K(s) Θ,d V in C(s) Motor ball/beam Θ X Sensor V Θ Sensor V X 0.1 Figure 2: Closedloop system configuration is fast relative to the ball and beam loop which is to be designed later. By designing the inner loop in this fashion, one essentially decouples the servomotor control design from the ball and beam control design. Once the first phase of the design is complete, the controlled servomotor system may be seen as part of the plant dynamics. Now, because the dynamics have been designed to be fast, the dynamics of entire system can be seen as a dominant secondorder system. Moreover, it can even be regarded as a constant gain transfer function from V Θ,d to V Θ since the system reach steady state very fast. The secondphase is to design the outer loop, i.e., the ball position control loop, so that the ball dynamics are appropriately controlled. The elements of each phase of the design are now described. Background information, including theoretical models, is included in the Appendix. Please download the following files from for your usage in the design and simulation. stepdata.mat This is a file containing step response data for the servo motor. The experiment 2
3 was conducted with a unity feedback controller configuration. The controller in the forward loop was a constant gain controller with gain K = 20. The reference input was a 0.5V step function. servo.mdl This is a SIMULINK file which contains a model of the servomotor obtained from previous experimentation. Some nonlinear effects, such as motor stiction, motor velocity limits and amplifier output saturation have been included in the model. ballbeam.mdl This is a SIMULINK file which contains the model of the servomotor contained in servo.mdl coupled with the ball and beam dynamics. balltdem.mdl This is a SIMULINK file which contains closedloop block diagrams of the whole systems for the purpose of design and simulation. animation.m This is a MATLAB function which animates the physical systems. EXERCISE A (Inner Loop Identification and Design) 45 points 1. System Identification: Derive the transfer function of the servomotor subsystem (from V in to V Θ ) using the information of mathematical models provided in Appendix A. Be sure to include the sensor gains in the models. Take care to keep track of measurement units (e.g., L m =0.18mH should be regarded as H, J m =0.387μKg m 2 as Kg m 2 when you substitute the values into the formulae, and you also need to convert degree to radian) since unit conversions will affect gains in the system. Keep only the system dynamics which will dominate the response. Note that the system is unstable. 2. Verification of the Model: Using the following technique to verify that your theoretical model is accurate. Suppose that the (unknown) transfer function model for the servomotor subsystem is labelled G m (s). Connect G m (s) with constant gain controller, K =20, as shown in figure 3 and obtain a 0.5V step response from the closed loop system. (The experiment has already been performed. Data for this step response is stored in stepdata.mat.) Find a secondorder transfer function Y (s)/r(s) which fits the data. Note that any model will have error due to motor nonlinearities (stiction and velocity limits). Use this transfer function model, along with knowledge of the gain K, tosolveforg m (s). Compare the G m (s) with Figure 3: Motor identification experiment your theoretical model (i.e., V Θ(s) V in (s)). Explain differences. 3. Controller Design: Find a continuous controller, C(s), as depicted in figure 2 so that the servomotor subsystem, V Θ (s)/v Θ,d (s) responds to a 0.5volt step input with no more than 5% 3
4 overshoot and a peaktime of approximately 0.2 seconds. Use the model supplied in servo.mdl to verify your design in Simulink. Obtain a printout of the Simulink block diagram used and the resulting stepresponse, appropriately annotated. Be sure to include these in your report. (Hint: you may consider using just a gain controller C(s) =K 1.) EXERCISE B (Outer Loop Identification and Design) 45 points 1. System Identification: Derive the transfer function X(s)/V Θ,d (s) with the servomotor controller in place. Be sure to document your modelling assumptions in your lab report. (Hint: You may regard the inner loop as a constant gain transfer function since it is much faster than the outer loop. And sin(θ l ) may be roughly approximated by θ l ). 2. Controller Design Design a controller K(s) so that the closedloop response x(t) to a step input x d (t) has low overshoot (preferably below 5%), less than 4 seconds 5% settling time and steadystate error as small as possible. You may use any method you like (e.g., PID controller). Use the model supplied in balltdem.mdl to verify your design in SIMULINK. Obtain a printout of the SIMULINK block diagram used and the resulting stepresponse, appropriately annotated. Include these in your report. 3. Documentation: Be sure to include all derivations and assumptions in your lab report. Your report should also include a detailed system block diagram similar to figure 2 with your mathematical models indicated. The instructor will need to check your simulation and animation results. EXERCISE C (Animation) 10 points Run the animation file using the t, x, theta, alpha you obtained from simulation. Make sure that you choose the Solver options in Simulation Simulation parameters... to be Fixedstep with step size and ode4 (RungeKutta). Note that the movie will clip 20 frames per second with respect to t. However, when displaying, it will show about 10 frames per second of real time. So the total time of each movie show will be about twice the maximum time in t. Also note that the animation movie will be shown 30 times. It is better to observe the system s behavior in the third or later movie show. 4
5 Appendix A: Mathematical Models Mathematical models for the physical components are described as follows. Servomotor The servomotor is a brushless armaturecontrolled DC motor. An electromechanical diagram of the servomotor, including the power amplifier which supplies current, is shown in figure 4. The electrical dynamics can be described by Figure 4: Electromechanical servomotor model di m v in = R m i m L m dt K dθ m b (1) dt where v in is the voltage supplied to the power amplifier, R m, L m, i m and θ m are the armature resistance, inductance, current and angular position, respectively, and K b is the back EMF constant of the motor. The mechanical equations of motion can be described by τ m = J m d 2 θ m dt 2 J l d 2 θ m Kg 2 dt 2 (2) where τ m is the torque exerted by the motor shaft, J m isthearmatureinertia,j l is the load inertia and K g is the gear ratio between the motor shaft and the load. Because this is an armature controlled configuration, the field current in the motor is held constant and the motor torque is proportional to the armature current, i.e. τ m = K m i m (3) where K m is the torque constant of the motor. Note that the angular position of the load, θ l, is translated to the angular position of the motor, θ m,usingthegearratio θ m = K g θ l (4) The motor parameters supplied by the manufacturer are listed in table 1 Nonlinearities: There are three types of nonlinearities which will affect the system response in this exercise. The first of these is called motor stiction. Stiction is the static friction in the motor which must be overcome before any movement can occur. It manifests itself as a voltage threshold below which the motor will not move. In feedback control designs, the effect of stiction is seen as a steadystate error to step inputs. This error arises because as the system approaches its tracking requirements, the feedback error signal which controls the 5
6 quantity value units R m 2.6 Ω L m 0.18 mh K b V/(rad/sec) K m Nm/amp K g 70 J m μkg m 2 Table 1: Servo motor parameter values Figure 5: Servomotor nonlinearities input to the motor becomes so small that it cannot overcome the stiction. In this case, the step response may exhibit a steadystate error even though the linear motor model is a type I system. A typical response is depicted in figure 5. The second nonlinearity which will affect response is a motor velocity limit. If one increases the input voltage to the motor, its output velocity increases proportionately until magnetic field saturation occurs within the motor. The output velocity then remains essentially constant regardless of the voltage applied. In a feedback control system, this effect will appear if the control gains are too high. The effect is a damping of the step response, as depicted in figure 5. Large load inertias will magnify the velocity limit effect. The final nonlinearity is a characteristic of the amplifier used to supply power to the motor and is generally referred to as actuator saturation. This problem occurs when the requested input voltage to the motor exceeds the output limits of the amplifier; in this case, the amplifier output voltage will saturate at the voltage limit. Actuator saturation is almost always undesirable. It is a highly nonlinear effect which, at the least, degrades performance and can cause system instability. Control designs with high gains and large operating regions or fast response requirements are especially susceptible to this problem. Ball and Beam Dynamics A simplified diagram of the ball and beam geometry is shown in figure 6. The force equilibrium indicated by the freebody diagram yields the dynamical equation d 2 x dt 2 = 5 g sin(α) (5) 7 6
7 Figure 6: Ballbeamservo geometry which describes the motion of the center of mass of the ball. The beam angle α can be related to the motor angular position, θ l, using simple geometry: L sin(α) = r sin(θ l ) (6) where L and r are as indicated in figure 6. Note that a positive change in motor angle corresponds to clockwise rotation. The combined structure of the ball, beam and gears create the load inertia J l seen by the motor. The ball and beam parameters supplied by the manufacturer are listed in table 2 quantity value units L cm r 2.54 cm g 9.8 m/s 2 J l Kg m 2 Table 2: Ball and beam parameter values Sensors There are two sensors used for feedback of ball position and motor angle. The sensor configurations are depicted in figure 7. angular position sensor The rotor of the servomotor is connected, via a 1 : 1 gear ratio, to the wiperarm of a biased potentiometer. Changes in rotor angular position correspond to changes in the potentiometer output voltage. The resulting sensor gain is supplied by the manufacturer as angular position sensor gain = V/deg The wiperarm voltage is connected to the A/D converter in parallel with a 1μF capacitor which filters noise generated by the resistor. 7
8 Figure 7: (a) Motor position sensor configuration (b) Ball position sensor configuration ball position sensor The ball position sensor is the ball and beam apparatus itself, which consists of a length of conductive plastic, a stainles steel shaft and the stainless steel ball. Placing the ball on the beam completes the circuit which consists of the indicated bias resistors and the conductive plastic between the ball and the and of the beam. As the ball moves, this length changes, modifying the series restistence and, hence, the voltage at the stainless steel shaft. The voltage is related to ball position via ball position sensor gain = 0.23 V/cm The ball position range is ±21.5cm. The shaft voltage is connected to the A/D converter in parallel with a 1μF capacitor which filters noise generated by the resistor. 8
SRV02-Series Rotary Experiment # 3. Ball & Beam. Student Handout
SRV02-Series Rotary Experiment # 3 Ball & Beam Student Handout SRV02-Series Rotary Experiment # 3 Ball & Beam Student Handout 1. Objectives The objective in this experiment is to design a controller for
More informationAutomatic Control Systems 2017 Spring Semester
Automatic Control Systems 2017 Spring Semester Assignment Set 1 Dr. Kalyana C. Veluvolu Deadline: 11-APR - 16:00 hours @ IT1-815 1) Find the transfer function / for the following system using block diagram
More informationMotomatic Servo Control
Exercise 2 Motomatic Servo Control This exercise will take two weeks. You will work in teams of two. 2.0 Prelab Read through this exercise in the lab manual. Using Appendix B as a reference, create a block
More informationRotary Motion Servo Plant: SRV02. Rotary Experiment #02: Position Control. SRV02 Position Control using QuaRC. Student Manual
Rotary Motion Servo Plant: SRV02 Rotary Experiment #02: Position Control SRV02 Position Control using QuaRC Student Manual Table of Contents 1. INTRODUCTION...1 2. PREREQUISITES...1 3. OVERVIEW OF FILES...2
More informationBall Balancing on a Beam
1 Ball Balancing on a Beam Muhammad Hasan Jafry, Haseeb Tariq, Abubakr Muhammad Department of Electrical Engineering, LUMS School of Science and Engineering, Pakistan Email: {14100105,14100040}@lums.edu.pk,
More informationDEPARTMENT OF ELECTRICAL AND ELECTRONIC ENGINEERING BANGLADESH UNIVERSITY OF ENGINEERING & TECHNOLOGY EEE 402 : CONTROL SYSTEMS SESSIONAL
DEPARTMENT OF ELECTRICAL AND ELECTRONIC ENGINEERING BANGLADESH UNIVERSITY OF ENGINEERING & TECHNOLOGY EEE 402 : CONTROL SYSTEMS SESSIONAL Experiment No. 1(a) : Modeling of physical systems and study of
More informationMEM01: DC-Motor Servomechanism
MEM01: DC-Motor Servomechanism Interdisciplinary Automatic Controls Laboratory - ME/ECE/CHE 389 February 5, 2016 Contents 1 Introduction and Goals 1 2 Description 2 3 Modeling 2 4 Lab Objective 5 5 Model
More informationMassachusetts Institute of Technology. Lab 2: Characterization of Lab System Components
OBJECTIVES Massachusetts Institute of Technology Department of Mechanical Engineering 2.004 System Dynamics and Control Fall Term 2007 Lab 2: Characterization of Lab System Components In the future lab
More informationDC SERVO MOTOR CONTROL SYSTEM
DC SERVO MOTOR CONTROL SYSTEM MODEL NO:(PEC - 00CE) User Manual Version 2.0 Technical Clarification /Suggestion : / Technical Support Division, Vi Microsystems Pvt. Ltd., Plot No :75,Electronics Estate,
More informationUNIVERSITY OF JORDAN Mechatronics Engineering Department Measurements & Control Lab Experiment no.1 DC Servo Motor
UNIVERSITY OF JORDAN Mechatronics Engineering Department Measurements & Control Lab. 0908448 Experiment no.1 DC Servo Motor OBJECTIVES: The aim of this experiment is to provide students with a sound introduction
More informationComparative Study of PID and Fuzzy Controllers for Speed Control of DC Motor
Comparative Study of PID and Fuzzy Controllers for Speed Control of DC Motor Osama Omer Adam Mohammed 1, Dr. Awadalla Taifor Ali 2 P.G. Student, Department of Control Engineering, Faculty of Engineering,
More informationFigure 1: Unity Feedback System. The transfer function of the PID controller looks like the following:
Islamic University of Gaza Faculty of Engineering Electrical Engineering department Control Systems Design Lab Eng. Mohammed S. Jouda Eng. Ola M. Skeik Experiment 3 PID Controller Overview This experiment
More informationBall and Beam. Workbook BB01. Student Version
Ball and Beam Workbook BB01 Student Version Quanser Inc. 2011 c 2011 Quanser Inc., All rights reserved. Quanser Inc. 119 Spy Court Markham, Ontario L3R 5H6 Canada info@quanser.com Phone: 1-905-940-3575
More information7 Lab: Motor control for orientation and angular speed
Prelab Participation Lab Name: 7 Lab: Motor control for orientation and angular speed Control systems help satellites to track distant stars, airplanes to follow a desired trajectory, cars to travel at
More informationActuators. EECS461, Lecture 5, updated September 16,
Actuators The other side of the coin from sensors... Enable a microprocessor to modify the analog world. Examples: - speakers that transform an electrical signal into acoustic energy (sound) - remote control
More informationSensors and Sensing Motors, Encoders and Motor Control
Sensors and Sensing Motors, Encoders and Motor Control Todor Stoyanov Mobile Robotics and Olfaction Lab Center for Applied Autonomous Sensor Systems Örebro University, Sweden todor.stoyanov@oru.se 05.11.2015
More informationOptimal Control System Design
Chapter 6 Optimal Control System Design 6.1 INTRODUCTION The active AFO consists of sensor unit, control system and an actuator. While designing the control system for an AFO, a trade-off between the transient
More informationElectrical Drives I. Week 4-5-6: Solid state dc drives- closed loop control of phase controlled DC drives
Electrical Drives I Week 4-5-6: Solid state dc drives- closed loop control of phase controlled DC drives DC Drives control- DC motor without control Speed Control Strategy: below base speed: V t control
More informationLaboratory Assignment 5 Digital Velocity and Position control of a D.C. motor
Laboratory Assignment 5 Digital Velocity and Position control of a D.C. motor 2.737 Mechatronics Dept. of Mechanical Engineering Massachusetts Institute of Technology Cambridge, MA0239 Topics Motor modeling
More informationLab 2: Quanser Hardware and Proportional Control
I. Objective The goal of this lab is: Lab 2: Quanser Hardware and Proportional Control a. Familiarize students with Quanser's QuaRC tools and the Q4 data acquisition board. b. Derive and understand a model
More informationGE 320: Introduction to Control Systems
GE 320: Introduction to Control Systems Laboratory Section Manual 1 Welcome to GE 320.. 1 www.softbankrobotics.com 1 1 Introduction This section summarizes the course content and outlines the general procedure
More informationRotary Motion Servo Plant: SRV02. Rotary Experiment #17: 2D Ball Balancer. 2D Ball Balancer Control using QUARC. Instructor Manual
Rotary Motion Servo Plant: SRV02 Rotary Experiment #17: 2D Ball Balancer 2D Ball Balancer Control using QUARC Instructor Manual Table of Contents 1. INTRODUCTION...1 2. PREREQUISITES...1 3. OVERVIEW OF
More informationEE 482 : CONTROL SYSTEMS Lab Manual
University of Bahrain College of Engineering Dept. of Electrical and Electronics Engineering EE 482 : CONTROL SYSTEMS Lab Manual Dr. Ebrahim Al-Gallaf Assistance Professor of Intelligent Control and Robotics
More informationCantonment, Dhaka-1216, BANGLADESH
International Conference on Mechanical, Industrial and Energy Engineering 2014 26-27 December, 2014, Khulna, BANGLADESH ICMIEE-PI-140153 Electro-Mechanical Modeling of Separately Excited DC Motor & Performance
More informationMotor Modeling and Position Control Lab 3 MAE 334
Motor ing and Position Control Lab 3 MAE 334 Evan Coleman April, 23 Spring 23 Section L9 Executive Summary The purpose of this experiment was to observe and analyze the open loop response of a DC servo
More informationA Searching Analyses for Best PID Tuning Method for CNC Servo Drive
International Journal of Science and Engineering Investigations vol. 7, issue 76, May 2018 ISSN: 2251-8843 A Searching Analyses for Best PID Tuning Method for CNC Servo Drive Ferit Idrizi FMI-UP Prishtine,
More informationFigure 2.1 a. Block diagram representation of a system; b. block diagram representation of an interconnection of subsystems
1 Figure 2.1 a. Block diagram representation of a system; b. block diagram representation of an interconnection of subsystems 2 Table 2.1 Laplace transform table 3 Table 2.2 Laplace transform theorems
More informationControl Design for Servomechanisms July 2005, Glasgow Detailed Training Course Agenda
Control Design for Servomechanisms 12 14 July 2005, Glasgow Detailed Training Course Agenda DAY 1 INTRODUCTION TO SYSTEMS AND MODELLING 9.00 Introduction The Need For Control - What Is Control? - Feedback
More informationPosition Control of DC Motor by Compensating Strategies
Position Control of DC Motor by Compensating Strategies S Prem Kumar 1 J V Pavan Chand 1 B Pangedaiah 1 1. Assistant professor of Laki Reddy Balireddy College Of Engineering, Mylavaram Abstract - As the
More informationEE443L Lab 8: Ball & Beam Control Experiment
EE443L Lab 8: Ball & Beam Control Experiment Introduction: The ball and beam control approach investigated last week will be implemented on the physical system in this week s lab. Recall the two part controller
More informationSRV02-Series. Rotary Servo Plant. User Manual
SRV02-Series Rotary Servo Plant User Manual SRV02-(E;EHR)(T) Rotary Servo Plant User Manual 1. Description The plant consists of a DC motor in a solid aluminum frame. The motor is equipped with a gearbox.
More informationLab 11. Speed Control of a D.C. motor. Motor Characterization
Lab 11. Speed Control of a D.C. motor Motor Characterization Motor Speed Control Project 1. Generate PWM waveform 2. Amplify the waveform to drive the motor 3. Measure motor speed 4. Estimate motor parameters
More informationOpen Loop Frequency Response
TAKE HOME LABS OKLAHOMA STATE UNIVERSITY Open Loop Frequency Response by Carion Pelton 1 OBJECTIVE This experiment will reinforce your understanding of the concept of frequency response. As part of the
More informationEE 3TP4: Signals and Systems Lab 5: Control of a Servomechanism
EE 3TP4: Signals and Systems Lab 5: Control of a Servomechanism Tim Davidson Ext. 27352 davidson@mcmaster.ca Objective To identify the plant model of a servomechanism, and explore the trade-off between
More informationComparisons of Different Controller for Position Tracking of DC Servo Motor
Comparisons of Different Controller for Position Tracking of DC Servo Motor Shital Javiya 1, Ankit Kumar 2 Assistant Professor, Dept. of IC, Atmiya Institute of Technology & Science, Rajkot, Gujarat, India
More informationSimulink Based Model for Analysing the Ziegler Nichols Tuning Algorithm as applied on Speed Control of DC Motor
Simulink Based Model for Analysing the Ziegler Nichols Tuning Algorithm as applied on Speed Control of DC Motor Bhaskar Lodh PG Student [Electrical Engineering], Dept. of EE, Bengal Institute of Technology
More informationFUZZY LOGIC CONTROL FOR NON-LINEAR MODEL OF THE BALL AND BEAM SYSTEM
11th International DAAAM Baltic Conference INDUSTRIAL ENGINEERING 20-22 nd April 2016, Tallinn, Estonia FUZZY LOGIC CONTROL FOR NON-LINEAR MODEL OF THE BALL AND BEAM SYSTEM Moezzi Reza & Vu Trieu Minh
More informationVer. 4/5/2002, 1:11 PM 1
Mechatronics II Laboratory Exercise 6 PID Design The purpose of this exercise is to study the effects of a PID controller on a motor-load system. Although not a second-order system, a PID controlled motor-load
More informationCHAPTER-III MODELING AND IMPLEMENTATION OF PMBLDC MOTOR DRIVE
CHAPTER-III MODELING AND IMPLEMENTATION OF PMBLDC MOTOR DRIVE 3.1 GENERAL The PMBLDC motors used in low power applications (up to 5kW) are fed from a single-phase AC source through a diode bridge rectifier
More informationDC motor control using arduino
DC motor control using arduino 1) Introduction: First we need to differentiate between DC motor and DC generator and where we can use it in this experiment. What is the main different between the DC-motor,
More informationDC MOTOR SPEED CONTROL USING PID CONTROLLER. Fatiha Loucif
DC MOTOR SPEED CONTROL USING PID CONTROLLER Fatiha Loucif Department of Electrical Engineering and information, Hunan University, ChangSha, Hunan, China (E-mail:fatiha2002@msn.com) Abstract. The PID controller
More informationBrushed DC Motor PWM Speed Control with the NI myrio, Optical Encoder, and H-Bridge
Brushed DC Motor PWM Speed Control with the NI myrio, Optical Encoder, and H-Bridge Motor Controller Brushed DC Motor / Encoder System K. Craig 1 Gnd 5 V OR Gate H-Bridge 12 V Bypass Capacitors Flyback
More informationME 461 Laboratory #5 Characterization and Control of PMDC Motors
ME 461 Laboratory #5 Characterization and Control of PMDC Motors Goals: 1. Build an op-amp circuit and use it to scale and shift an analog voltage. 2. Calibrate a tachometer and use it to determine motor
More informationUNIT 2: DC MOTOR POSITION CONTROL
UNIT 2: DC MOTOR POSITION CONTROL 2.1 INTRODUCTION This experiment aims to show the mathematical model of a DC motor and how to determine the physical parameters of a DC motor model. Once the model is
More informationCONTROLLING THE OSCILLATIONS OF A SWINGING BELL BY USING THE DRIVING INDUCTION MOTOR AS A SENSOR
Proceedings, XVII IMEKO World Congress, June 7,, Dubrovnik, Croatia Proceedings, XVII IMEKO World Congress, June 7,, Dubrovnik, Croatia XVII IMEKO World Congress Metrology in the rd Millennium June 7,,
More informationAE2610 Introduction to Experimental Methods in Aerospace
AE2610 Introduction to Experimental Methods in Aerospace Lab #3: Dynamic Response of a 3-DOF Helicopter Model C.V. Di Leo 1 Lecture/Lab learning objectives Familiarization with the characteristics of dynamical
More informationAdvanced Servo Tuning
Advanced Servo Tuning Dr. Rohan Munasinghe Department of Electronic and Telecommunication Engineering University of Moratuwa Servo System Elements position encoder Motion controller (software) Desired
More informationMAGNETIC LEVITATION SUSPENSION CONTROL SYSTEM FOR REACTION WHEEL
IMPACT: International Journal of Research in Engineering & Technology (IMPACT: IJRET) ISSN 2321-8843 Vol. 1, Issue 4, Sep 2013, 1-6 Impact Journals MAGNETIC LEVITATION SUSPENSION CONTROL SYSTEM FOR REACTION
More informationMagnetic Levitation System
Magnetic Levitation System Electromagnet Infrared LED Phototransistor Levitated Ball Magnetic Levitation System K. Craig 1 Magnetic Levitation System Electromagnet Emitter Infrared LED i Detector Phototransistor
More informationFundamentals of Servo Motion Control
Fundamentals of Servo Motion Control The fundamental concepts of servo motion control have not changed significantly in the last 50 years. The basic reasons for using servo systems in contrast to open
More informationMathematical Modeling, Simulation and Control of Ball and Beam System
Mathematical Modeling, Simulation and Control of Ball and Beam System Mr. Hrishikesh R. Shirke Dept. of electrical Engineering, P.E.S. s Modern college of engineering, Pune-05, Maharashtra, India. Abstract
More informationME 3200 Mechatronics I Laboratory Lab 8: Angular Position and Velocity Sensors
ME 3200 Mechatronics I Laboratory Lab 8: Angular Position and Velocity Sensors In this exercise you will explore the use of the potentiometer and the tachometer as angular position and velocity sensors.
More informationBrushed DC Motor Microcontroller PWM Speed Control with Optical Encoder and H-Bridge
Brushed DC Motor Microcontroller PWM Speed Control with Optical Encoder and H-Bridge L298 Full H-Bridge HEF4071B OR Gate Brushed DC Motor with Optical Encoder & Load Inertia Flyback Diodes Arduino Microcontroller
More informationMagnetic Levitation System
Introduction Magnetic Levitation System There are two experiments in this lab. The first experiment studies system nonlinear characteristics, and the second experiment studies system dynamic characteristics
More informationSfwr Eng/TRON 3DX4, Lab 4 Introduction to Computer Based Control
Announcements: Sfwr Eng/TRON 3DX4, Lab 4 Introduction to Computer Based Control First lab Week of: Mar. 10, 014 Demo Due Week of: End of Lab Period, Mar. 17, 014 Assignment #4 posted: Tue Mar. 0, 014 This
More informationLab #2 Voltage and Current Division
In this experiment, we will be investigating the concepts of voltage and current division. Voltage and current division is an application of Kirchoff s Laws. Kirchoff s Voltage Law Kirchoff s Voltage Law
More informationUser Guide IRMCS3041 System Overview/Guide. Aengus Murray. Table of Contents. Introduction
User Guide 0607 IRMCS3041 System Overview/Guide By Aengus Murray Table of Contents Introduction... 1 IRMCF341 Application Circuit... 2 Sensorless Control Algorithm... 4 Velocity and Current Control...
More informationModeling Position Tracking System with Stepper Motor
Modeling Position Tracking System with Stepper Motor Shreeji S. Sheth 1, Pankaj Kr. Gupta 2, J. K. Hota 3 Abstract The position tracking system is used in many applications like pointing an antenna towards
More informationFeedback Devices. By John Mazurkiewicz. Baldor Electric
Feedback Devices By John Mazurkiewicz Baldor Electric Closed loop systems use feedback signals for stabilization, speed and position information. There are a variety of devices to provide this data, such
More informationServo Tuning Tutorial
Servo Tuning Tutorial 1 Presentation Outline Introduction Servo system defined Why does a servo system need to be tuned Trajectory generator and velocity profiles The PID Filter Proportional gain Derivative
More informationEE 4314 Lab 3 Handout Speed Control of the DC Motor System Using a PID Controller Fall Lab Information
EE 4314 Lab 3 Handout Speed Control of the DC Motor System Using a PID Controller Fall 2012 IMPORTANT: This handout is common for all workbenches. 1. Lab Information a) Date, Time, Location, and Report
More information2.017 DESIGN OF ELECTROMECHANICAL ROBOTIC SYSTEMS Fall 2009 Lab 4: Motor Control. October 5, 2009 Dr. Harrison H. Chin
2.017 DESIGN OF ELECTROMECHANICAL ROBOTIC SYSTEMS Fall 2009 Lab 4: Motor Control October 5, 2009 Dr. Harrison H. Chin Formal Labs 1. Microcontrollers Introduction to microcontrollers Arduino microcontroller
More informationDesign of Compensator for Dynamical System
Design of Compensator for Dynamical System Ms.Saroja S. Chavan PimpriChinchwad College of Engineering, Pune Prof. A. B. Patil PimpriChinchwad College of Engineering, Pune ABSTRACT New applications of dynamical
More informationPID Control with Derivative Filtering and Integral Anti-Windup for a DC Servo
PID Control with Derivative Filtering and Integral Anti-Windup for a DC Servo Nicanor Quijano and Kevin M. Passino The Ohio State University Department of Electrical Engineering 2015 Neil Avenue, Columbus
More informationMCE441/541 Midterm Project Position Control of Rotary Servomechanism
MCE441/541 Midterm Project Position Control of Rotary Servomechanism DUE: 11/08/2011 This project counts both as Homework 4 and 50 points of the second midterm exam 1 System Description A servomechanism
More informationServo Tuning. Dr. Rohan Munasinghe Department. of Electronic and Telecommunication Engineering University of Moratuwa. Thanks to Dr.
Servo Tuning Dr. Rohan Munasinghe Department. of Electronic and Telecommunication Engineering University of Moratuwa Thanks to Dr. Jacob Tal Overview Closed Loop Motion Control System Brain Brain Muscle
More informationModeling of Electro Mechanical Actuator with Inner Loop controller
Modeling of Electro Mechanical Actuator with Inner Loop controller Patchigalla Vinay 1, P Mallikarjuna Rao 2 1PG scholar, Dept.of EEE, Andhra Universit(A),Visakhapatnam,India 2Professor, Dept.of EEE, Andhra
More informationMTE 360 Automatic Control Systems University of Waterloo, Department of Mechanical & Mechatronics Engineering
MTE 36 Automatic Control Systems University of Waterloo, Department of Mechanical & Mechatronics Engineering Laboratory #1: Introduction to Control Engineering In this laboratory, you will become familiar
More informationImplementation of Conventional and Neural Controllers Using Position and Velocity Feedback
Implementation of Conventional and Neural Controllers Using Position and Velocity Feedback Expo Paper Department of Electrical and Computer Engineering By: Christopher Spevacek and Manfred Meissner Advisor:
More informationTeaching Mechanical Students to Build and Analyze Motor Controllers
Teaching Mechanical Students to Build and Analyze Motor Controllers Hugh Jack, Associate Professor Padnos School of Engineering Grand Valley State University Grand Rapids, MI email: jackh@gvsu.edu Session
More informationAn Introduction to Proportional- Integral-Derivative (PID) Controllers
An Introduction to Proportional- Integral-Derivative (PID) Controllers Stan Żak School of Electrical and Computer Engineering ECE 680 Fall 2017 1 Motivation Growing gap between real world control problems
More informationApplication of H-infinity Robust Controller on PAC
Application of H-infinity Robust Controller on PAC S.Ozana*, M.Pies* *VSB-Technical University of Ostrava, FEI Czech Republic (Tel: 420-59732-422; e-mail: stepan.ozana@vsb.cz). Abstract: The paper deals
More informationImplementation of Proportional and Derivative Controller in a Ball and Beam System
Implementation of Proportional and Derivative Controller in a Ball and Beam System Alexander F. Paggi and Tooran Emami United States Coast Guard Academy Abstract This paper presents a design of two cascade
More informationModelling and Control of Hybrid Stepper Motor
I J C T A, 9(37) 2016, pp. 741-749 International Science Press Modelling and Control of Hybrid Stepper Motor S.S. Harish *, K. Barkavi **, C.S. Boopathi *** and K. Selvakumar **** Abstract: This paper
More informationFeedback Systems. Many embedded system applications involve the concept of feedback. Sometimes feedback is designed into systems: Actuator
Feedback Systems Many embedded system applications involve the concept of feedback Sometimes feedback is designed into systems: Operator Input CPU Actuator Physical System position velocity temperature
More informationSynchronized Injection Molding Machine with Servomotors
Synchronized Injection Molding Machine with Servomotors Sheng-Liang Chen, Hoai-Nam Dinh *, Van-Thanh Nguyen Institute of Manufacturing Information and Systems, National Cheng Kung University, Tainan, Taiwan
More information1. To study the influence of the gain on the transient response of a position servo. 2. To study the effect of velocity feedback.
KING FAHD UNIVERSITY OF PETROLEUM & MINERALS Electrical Engineering Department EE 380 - Control Engineering Experiment # 6 Servo Motor Position Control Using a Proportional Controller OBJECTIVES: 1. To
More informationClosed-Loop Position Control, Proportional Mode
Exercise 4 Closed-Loop Position Control, Proportional Mode EXERCISE OBJECTIVE To describe the proportional control mode; To describe the advantages and disadvantages of proportional control; To define
More informationCHAPTER 2 D-Q AXES FLUX MEASUREMENT IN SYNCHRONOUS MACHINES
22 CHAPTER 2 D-Q AXES FLUX MEASUREMENT IN SYNCHRONOUS MACHINES 2.1 INTRODUCTION For the accurate analysis of synchronous machines using the two axis frame models, the d-axis and q-axis magnetic characteristics
More informationRobust Control Design for Rotary Inverted Pendulum Balance
Indian Journal of Science and Technology, Vol 9(28), DOI: 1.17485/ijst/216/v9i28/9387, July 216 ISSN (Print) : 974-6846 ISSN (Online) : 974-5645 Robust Control Design for Rotary Inverted Pendulum Balance
More informationBrushed DC Motor System
Brushed DC Motor System Pittman DC Servo Motor Schematic Brushed DC Motor Brushed DC Motor System K. Craig 1 Topics Brushed DC Motor Physical & Mathematical Modeling Hardware Parameters Model Hardware
More informationA Do-and-See Approach for Learning Mechatronics Concepts
Proceedings of the 5 th International Conference of Control, Dynamic Systems, and Robotics (CDSR'18) Niagara Falls, Canada June 7 9, 2018 Paper No. 124 DOI: 10.11159/cdsr18.124 A Do-and-See Approach for
More informationDesign Applications of Synchronized Controller for Micro Precision Servo Press Machine
International Journal of Electrical Energy, Vol, No, March Design Applications of Synchronized Controller for Micro Precision Servo Press Machine ShangLiang Chen and HoaiNam Dinh Institute of Manufacturing
More informationPID, I-PD and PD-PI Controller Design for the Ball and Beam System: A Comparative Study
IJCTA, 9(39), 016, pp. 9-14 International Science Press Closed Loop Control of Soft Switched Forward Converter Using Intelligent Controller 9 PID, I-PD and PD-PI Controller Design for the Ball and Beam
More informationLab 6: Exploring the Servomotor Controller Circuit
Lab 6: Exploring the Servomotor Controller Circuit By: Gary A. Ybarra Christopher E. Cramer Duke University Department of Electrical and Computer Engineering Durham, NC 1. Purpose: The purpose of this
More informationComparative Analysis of PID, SMC, SMC with PID Controller for Speed Control of DC Motor
International ournal for Modern Trends in Science and Technology Volume: 02, Issue No: 11, November 2016 http://www.ijmtst.com ISSN: 2455-3778 Comparative Analysis of PID, SMC, SMC with PID Controller
More informationElectro-hydraulic Servo Valve Systems
Fluidsys Training Centre, Bangalore offers an extensive range of skill-based and industry-relevant courses in the field of Pneumatics and Hydraulics. For more details, please visit the website: https://fluidsys.org
More informationMEM380 Applied Autonomous Robots I Winter Feedback Control USARSim
MEM380 Applied Autonomous Robots I Winter 2011 Feedback Control USARSim Transforming Accelerations into Position Estimates In a perfect world It s not a perfect world. We have noise and bias in our acceleration
More informationPosition Control of AC Servomotor Using Internal Model Control Strategy
Position Control of AC Servomotor Using Internal Model Control Strategy Ahmed S. Abd El-hamid and Ahmed H. Eissa Corresponding Author email: Ahmednrc64@gmail.com Abstract: This paper focuses on the design
More informationPage ENSC387 - Introduction to Electro-Mechanical Sensors and Actuators: Simon Fraser University Engineering Science
Motor Driver and Feedback Control: The feedback control system of a dc motor typically consists of a microcontroller, which provides drive commands (rotation and direction) to the driver. The driver is
More informationMAE106 Laboratory Exercises Lab # 5 - PD Control of DC motor position
MAE106 Laboratory Exercises Lab # 5 - PD Control of DC motor position University of California, Irvine Department of Mechanical and Aerospace Engineering Goals Understand how to implement and tune a PD
More informationLaboratory Investigation of Variable Speed Control of Synchronous Generator With a Boost Converter for Wind Turbine Applications
Laboratory Investigation of Variable Speed Control of Synchronous Generator With a Boost Converter for Wind Turbine Applications Ranjan Sharma Technical University of Denmark ransharma@gmail.com Tonny
More informationLab Exercise 9: Stepper and Servo Motors
ME 3200 Mechatronics Laboratory Lab Exercise 9: Stepper and Servo Motors Introduction In this laboratory exercise, you will explore some of the properties of stepper and servomotors. These actuators are
More informationRotary Motion Servo Plant: SRV02. Rotary Experiment #03: Speed Control. SRV02 Speed Control using QuaRC. Student Manual
Rotary Motion Servo Plant: SRV02 Rotary Experiment #03: Speed Control SRV02 Speed Control using QuaRC Student Manual Table of Contents 1. INTRODUCTION...1 2. PREREQUISITES...1 3. OVERVIEW OF FILES...2
More informationThe Discussion of this exercise covers the following points: Angular position control block diagram and fundamentals. Power amplifier 0.
Exercise 6 Motor Shaft Angular Position Control EXERCISE OBJECTIVE When you have completed this exercise, you will be able to associate the pulses generated by a position sensing incremental encoder with
More informationRoot Locus Design. by Martin Hagan revised by Trevor Eckert 1 OBJECTIVE
TAKE HOME LABS OKLAHOMA STATE UNIVERSITY Root Locus Design by Martin Hagan revised by Trevor Eckert 1 OBJECTIVE The objective of this experiment is to design a feedback control system for a motor positioning
More informationMSK4310 Demonstration
MSK4310 Demonstration The MSK4310 3 Phase DC Brushless Speed Controller hybrid is a complete closed loop velocity mode controller for driving a brushless motor. It requires no external velocity feedback
More informationIdentification and Real Time Control of a DC Motor
IOSR Journal of Electrical and Electronics Engineering (IOSR-JEEE) e-issn: 2278-1676,p-ISSN: 2320-3331, Volume 7, Issue 4 (Sep. - Oct. 2013), PP 54-58 Identification and Real Time Control of a DC Motor
More informationModelling and Simulation of a DC Motor Drive
Modelling and Simulation of a DC Motor Drive 1 Introduction A simulation model of the DC motor drive will be built using the Matlab/Simulink environment. This assignment aims to familiarise you with basic
More informationThe Air Bearing Throughput Edge By Kevin McCarthy, Chief Technology Officer
159 Swanson Rd. Boxborough, MA 01719 Phone +1.508.475.3400 dovermotion.com The Air Bearing Throughput Edge By Kevin McCarthy, Chief Technology Officer In addition to the numerous advantages described in
More information