Assignment 9 Ball and Beam Design Project
|
|
- Bennett Doyle
- 6 years ago
- Views:
Transcription
1 EE-371 CONTROL SYSTEMS LABORATORY Assignent 9 Ball and Bea Design Project Purpose The objectives of this project are: To obtain a atheatical odel and a linearized odel of the ball and bea syste. Design two controllers to control the position of the ball along the track ake it follow a coanded input. Build a Siulink odel of the plant and siulate off line Build the WinCon application, ipleent, test and analyze the syste on the real-tie hardware To use the reote sensor for aking the Ball on the bea follow the Ball on the reote sensor for operation in aster / slave tracking ode. Introduction The purpose of the design is to control the position of the ball along the track by anipulating the angular position of the servo. The syste is often used as a bench ark proble for any different control schees such as the control odel in the rocket toppling control syste, where a feedback syste is used to prevent rockets to topple out of balance during launch by forces and oents that could perturb the vertical otion. The Ball and Bea syste is driven by the servootor as shown in Figure 9.1. The bea consists of a steel rod in parallel with a nickel-chroiu wire-wound resistor foring a track upon which a etal ball is free to roll. One end of the beas is coupled to the servootor through a lever ar and gears and the other end is fixed. The wire-wound resistor is biased and when the ball rolls along the track it acts as wiper siilar to a potentioeter. The position of the ball along the track is obtained by easuring the voltage at the steel rod. Figure 9.1: Ball and bea odule coupled to the servo plant. 9.1
2 An optional reote sensor is also available for operation in aster / slave tracking ode. This sensor is used, as the input to the Ball & Bea desired position, aking the Ball on the bea follow the ball on the reote sensor. The first step in the design of a control syste is the atheatical odeling of the physical syste as follows 1. Matheatical Modeling 1.1 Ball and bea Model The paraeters of the ball and bea odule shown in Figure 9. are defined as follows: x L Ball α Lever ar r θ Output Gear Figure 9. Siplified ball and bea scheatic L Bea length ( L 16.7 c) r Lever ar offset ( r 1 in) α Bea angle coordinate θ Servo gear angle Mass of Ball R Radius of the ball J Ball s oent of inertia ( J R ) g Gravitational acceleration ( g 9.8 /s ) Consider the free-body diagra shown in Figure 9.3. Neglecting frictional force, two forces influencing the otion of the ball are F tx F rx Force due to translational otion Force due to ball rotation 9.
3 d x Denoting the acceleration dt x Ftx along x as x, force due to translational otion is Torque due to the ball rotation is dωb d( vb / R) d ( x/ R) J Tr FrxR J J J x dt dt dt R or g sinα x α g F rx F tx g cosα α Figure 9.3 Rolling ball free-body diagra J Frx x R Substituting for the oent of inertia of the ball (Sphere J Frx x Applying the Newton s second law for forces along the inclination, we have R ), we get or Frx + Ftx gsin α x + x gsinα x g sin α (9.1) 7 We use the above nonlinear equation in the Siulink odel. We also linearized the above equation to obtain a transfer function of the ball and bea controller design. For sall angle, sinα α, and (9.1) becoes x gα (9.) 7 9.3
4 Taking the Laplace transfor of (9.), we find X () s (/7) g α() s s (9.3) Equating the arc distance traversed by the gear at radius r with the arc distance traversed by the bea at radius L, we have rθ Lα or r α θ (9.4) L The Siulink block diagra for the rolling ball dynaic as given by the nonlinear equation (9.1) is as shown in Figure 9.4. Nonlinear Ball and Bea Model alpha Sin Trigonoetric Function ( / 7)*9.8 Gain x'' 1 x' 1 x s s Integ 1 Integ Figure 9.4 Siulink block diagra for the rolling ball odel. Create a subsyste with α as inport and x as the outport in radians. To do this, enclose the blocks within a bounding box as shown in Figure 9.4. Choose Create Subsyste fro the Edit enu. Edit in1 an out1 ports as alpha and x and renae the subsyste as Rolling Ball Model, and obtain the subsyste shown in Figure 9.. alpha x 1. Servootor Model Rolling Ball Model Figure 9. Siulink Subsyste for the rolling ball odel. In the position control experient (Lab ) the otor-load transfer function with position as output was found to be ηk K or θo() s RJ a eq Vi () s Beq ηkkg s s+ + Jeq Ra J eq g (9.) 9.4
5 θo() s a Vi() s s( s+ b) Where ηk K B ηk K a, b + R J J R J g eq g a eq eq a eq In this project the servootor is arranged for the high gear ratio as shown in Figure 9.6. For this configuration the gear ratio is K g (14)(). (9.6) (9.7) Figure 9.6 High gear ratio configurations The syste paraeters are as follows: Arature resistance, R a.6 Ω Motor voltage constant, K V-s/rad Motor torque constant, K τ N-/A Arature inertia, J Tachoeter inertia, Kg J tach High gear ratio, K g (14)() Kg 7 Equivalent viscous friction referred to the secondary gear Motor efficiency due to rotational loss ηr 0.87 Gearbox efficiency, ηgb 0.8 η η η (0.87)(0.8) r gb B K B + B eq g L N/(rad/s) Gear inertia: J Kg J Kg 6 J Kg 7 Load inertia, J J + ( J ) + J Kg L J K ( J + J ) + J (14 ) ( ) Kg 7 eq g tach L 9.
6 Control syste strategy and controller design Te ball and bea odule provides two easureents: the encoder provides the servootor output θ o ( t ), and the bea sensor provides the ball s displaceent x() t. The control syste design requires two feedback loops; one inner loop for the otor angle control, which actuates the bea and an outer loop for ball position control. In this project a proportional gain and a rate gain is to be designed for each feedback loops. Therefore two controllers are to be designed. The objective of the servo controller is to ake the servootor output θ ( t ) follow the input angle, o θ () t. The objective of the ball and bea controller is to ake the ball position x ( t ) follow the i reference position xi ( t ). If the servootor controller is ade to respond sufficiently faster than the ball and bea controller, these controllers can be designed independently.. Pre Laboratory Assignent.1 Servootor controller Design Evaluate a, and b of the plant transfer function as given by (9.7) and obtain the plant transfer function. In this project, the high gear ratio is used, i.e., K (14)(), and N/(rad/s). Therefore, a, and b are different fro those evaluated in Lab. g B eq o 4 10 As in position control (Lab ) we use a rate feedback and a position feedback given by V() s K [ θ () s θ ()] s K Ω () s (9.8) i P i o D o This feedback loop is shown in Figure 9.7. The purpose of this syste is to have the output angle, θo( t) follow the input angle, θ i ( t). Design this controller to eet the following tiedoain specifications: Step response daping ratio ζ 0.8 Step response peak tie t 0.1 second p 3 θ i () s K P Vi () s a s+ b Ω o() s 1 s θ o() s K D Figure 9.7 Position Control using position and rate feedback. Applying the Mason s gain forula, the overall transfer function becoes 9.6
7 θ () s K a θ s s + K a + b s+ K a o P i() D ( ) P Substitute for a, and b, and obtain the closed loop transfer function in ters of the nuerical values. θo () s θi () s The second-order response peak tie, is given by t p ω n t p (9.9) π (9.10) 1 ζ The servo otor transfer function has the sae for as the standard second-order transfer function θo() s ωn (9.11) θi() s s + ζωns+ ω n Coparing the plant characteristic equation given in (9.9) with the standard second-order characteristic equation in (9.11), find two equations for K and K in ters of a, b, ζ, and ω n. Substitute for the paraeters and obtain the values of K P, and K D for the above design specifications. K P, D P D K (9.1) The SIMULINK siulation diagra naed Lab9_Si.dl is constructed as shown in Figure 9.8. In the Siulink block diagra you can replace a, b, KP, and KD with their values. Alternatively, you can place equations (9.7), and (9.1) in a script -file to copute a, b, KP, and KD which is sent to the MATLAB Workspace, then siulate the Siulink diagra. Fro the Siulink/Siulation Paraeters select the Solver page and for Solver option Type select Fixed-step and ode4 (Runge-Kutta) and set the fixed step size to Degrees 0.1Hz Square Signal Generator Theta_i Servo Plant Transfer Fcn a 1 pi/180 + KP + s + b s 180/pi Theta_o Deg-Rad Integrator Rad-Deg Scope KD Derivative Feedback Position Feedback Figure 9.8 Siulink diagra for the servo plant position control. Obtain the response to a square input of aplitude 1 and frequency 0.1 Hz. 9.7
8 Create a subsyste with θi and θ o in radians. To do this, enclose the blocks within a bounding box as shown. Choose Create Subsyste fro the Edit enu. Edit in an out port as Theta_o and Thetha_o and renae the subsyste as Copensated Servootor as shown in Figure 9.9. theta_i theta_o. Ball and bea controller Design Copensated Servootor Figure 9.9 Copensated Servo plant position subsyste The outer loop controls the ball position using the sae feedback law. α K ( x x ) K x (9.13) bp i o bd o The purpose of this syste is to have the ball position xo ( t ) follow the reference position xi ( t ). Design this controller to eet the following tie-doain specifications: Step response daping ratio ζ Step response peak tie t 1.8 second p Taking the Laplace transfor of (9.13), we have α () s KbP[ Xi () s Xo()] s KbDsXo () s (9.14) Fro (9.3) 7s s α () s Xo() s Xo() (9.8) 7 s (9.1) Substituting for α () s fro (9.1) into (9.14) results in the following closed loop transfer function Xo() s 7KbP X i() s s + 7KbDs+ 7K bp The second-order response peak tie t p ω bn π 1 ζ b t p, is given by (9.16) (9.17) The servo otor transfer function has the sae for as the standard second-order transfer function given by Xo() s ωbn Xi() s s + ζωbns+ ω bn (9.18) Fro (9.16) and (9.18), we have ωbn ζω bn K bp rad/, K bd 7 7 rad-s/ (9.19) 9.8
9 Coparing the plant characteristic equation given in (9.16) with the standard second-order characteristic equation in (9.18), find two equations for K and K in ters of a, b, ζ, and bp bd b ω bn. Substitute for the paraeters and obtain the values of KbP in deg/c, and KbD in degsec/c for the above design specifications K bp K bd.3 Digital Siulation Utilizing the ball placeent feedback equation (9.14), equation (9.4), copensated servo plant subsyste (Figure 9.9), equation (9.4), and rolling ball odel (Figure 9.) construct a Siulink diagra siilar to the one shown in Figure Apply a unit square wave of 0.1Hz and a gain of say c for the ball aplitude displaceent. The oveent of the servo gear is constraint to a axiu value of ± 6. Therefore ake sure that you place a liiter and set the upper and lower liits to no ore than ± 0. Mux Hz Signal Generator Gain Derivative Feedback alpha KbD theta_o Deg ±0 + KbP /1 pi/180 x_i c KbP L/r Liiter Deg to Rad x_o c Derivative KbD du/dt theta_o Rad theta_i theta_o 1/16.7 alpha x 100 Copensated Servootor r/l 180/pi Rolling Ball Model Ball Position to c x_o c Position Feedback Rad to Deg theta_o Figure 9.10 Ball and bea Siulink diagra with controllers for servo plant and ball and bea In Siulation paraeters dialog box set the Stop tie to 1, for the solver select Fixed-step, ode4 (Runge-Kutta), and for step size. Obtain the response for the servootor angular position θ o( t ) and label as Figure Also, obtain the response for the ball position and label as Figure 9.1. Coent on the ball position response and state if the ball position response eets the design specifications within the accuracy of the nuerical solution. All the prelab calculations, design and siulation ust be copleted prior to the laboratory session. The plants transfer function and the controller values ust be checked and verified by your instructor. 9.9
10 3. Laboratory Procedure When you have finished testing your odel in SIMULINK, it has to be prepared for ipleentation on the real-tie hardware. This eans the plant odel has to be replaced by the I/O coponents that for the interfaces to the real plant. 3.1 Wiring diagra Using the set of leads, universal power odule (UPM), SRV-0 DC-otor, and the connecting board of the MultiQ3 data acquisition board, coplete the wiring diagra shown in Figure 9.13 as follows: Fro To Cable Ball & bea sensor S1,S on UPM 6 pin ini Din to 6 pin ini Din Reote sensor S3 on UPM 6 pin ini Din to 6 pin ini Din Encoder on SRV0 MultiQ/Encoder 0 pin Din to pin Din Motor on SRV0 UPM/To Load 6Pin to 4 Pin Din, Gain 1 Cable D/A #0 on MultiQ UPM Fro D/A RCA to Pin Din A/D # 0, 1,, 3, on MultiQ UPM- TO A/D Din to 4xRCA MultiQ SRVO- Motor Encoder Fro D/A UPM S3 TO A/D Analog Output #0 D/A B RAnalog W Input Y A/D Bea sensor S1 To Load Encoder #0 Reote sensor Figure 9.13 Wiring diagra for servo otor position control syste. 3. Creating the Ipleentation odel The Encoder_Tach.dl subsyste, which was created in the position control experient shown in Figure 9.14(a). 9.10
11 Vel [rd/s] Tacho d(pos)/dt [rd/s] Vel (Encoder) (Pos [rd] Encoder and Tacho input Figure 9.14(a) Interface to the SRV0 Feedback Signals. If you double-click on the above subsyste it would display the underlying syste as shown in Figure 9.14(b). Quanser Consulting MQ3 ADC SRV0 Tach Input Channel 1000/1. 1/(14*) 0 s + 0 *pi/60 1 V to RPM RPM to [rd/s] 1/Gear ratio Low-pass filter Vel [rd/s] Thacho Quanser Consulting MQ3 ENC *pi/4090 0s s + 0 Differentiator d(pos)/dt [rd/s] Vel (Encoder) 3 Pos [rd] SRV0 Encoder Input Channel 0 Count to rd Figure 9.14(b) Content of the subsyste Encoder-Tach. Get a new odel in SIMULINK and begin to construct the ipleentation odel with the required I/O coponents that for the interfaces to the real plant. Load the above Encoder_Tach.dl subsyste (this was constructed in Lab). Get the Analog Output block fro the Quanser MultiQ3 and set the Channel Use to 0 as is in the wiring diagra. Add the position and velocity feedback gains to the signal coing fro the Motor Encoder, coplete the feedback loops and connect the resulting signal to the Quanser Analog output. Set the gains KP and KD to the values found in part.1. Get an analog input for getting the ball position signal fro the ball and bea sensor and the reote sensor. Double-click to open its dialog box and in the Channel to Use box enter [1,] in MATLAB array for. Get a Deux block fro the Signal & Syste library to separate the signals coing fro Channel 1 and of the sensor analog input. The bea length is (16.7)(.4) c, and the sensor voltage range is 10 V. Thus you need two Gain blocks to ultiply the incoing signals by the factor (16.7)(.4) /10 to easure the ball position in c. Get a Manual Switch fro the Nonlinear Library to connect the Signal generator and the Reote sensor to the Suing point block as shown. Add the position and velocity feedback gains to the signal coing fro bea sensor, coplete the feedback loop. Set the ball and bea controller gains KbP and KbD to the values found in part.. Coplete the reaining 9.11
12 blocks as in the SIMULINK siulation diagra. The oveent of the servo gear is constraint to approxiately ± 6. Therefore ake sure that you place a liiter and set the upper and lower liits to no ore than ± 0. When the servo gear is in the resting position, the servo angle is about 6 degrees. We start the controller fro the resting position as shown in Figure 9.16(a). Thus, In order to ensure that the servo is at the zero position when the coand is zero degrees, we coand the servo with a -6 degree offset fro the starting position. Use a Signal Generator with Aplitude 1, and Frequency 0.1 Hz and set the gain block value to. This gives a displaceent range of 10 c. Place as any Scopes as you like to onitor the ball position and the servootor angle. Your copleted odel should be the sae as shown in Figure 9.1. You y save the odel under the file nae say, Lab9_Ip.dl Hz Aplitude Signal Generator Manual Switch + x_i KbP Kb_P alpha /1 L/r Kb_D KbD Initial angle at start 6 Constant theta_i Degree ±0 Saturation 1s s pi/180 + Degree to Rad KP K_P + 1 Cable 1 Vel Rad/s K_D KD theta_o Quanser Consulting MQ3 DAC Analog Output to UPM driving SRV0 Vel [rd/s ] Tacho d(pos)/dt {rd/s], Vel (Encoder) x_o Bea sensor Analog input Channel 1 Pos [rd] Encoder and Tacho input Bouble-click on the switch to ove fro the signal generator input to reote sensor 16.7*.4/10 Bal Pos Reote sensor 16.7*.4/10 Bal Pos 1 Deux Quanser Consulting MQ3 ADC In the Channel to Usedialog box type [1,] Figure 9.1 SIMULINK Ipleentation diagra for Ball and Bea Project 9.1
13 Figure 9.16(a) Starting position (b) Zero position At this point turn the servo gear by hand holding it at zero position, then the lever ars should be vertical and the bea should be perfectly horizontal so as if you place the ball at idpoint of the track it should alost stay without rolling to the sides. You ay use proper tool to adjust the height of the support ar at the left hand side of the track, or siply raise end that would level the bea by placing few sheets of paper under it. If the bea is not perfectly horizontal when the servo angle is at zero position, there will be a steady state error that is a positive or negative offset depending on the bea tilting direction Before proceeding to the next part request the instructor to check your electrical connections and the ipleentation diagra. 3.3 Copiling the odel In order to run the ipleentation odel in real-tie, you ust first build the code for it. Turn on the UPM. Start WinCon, Click on the MATLAB icon in WinCon server. This launches MATLAB. In the Coand enu set the Current Directory to the path where your odel Lab9_Ip.dl is. Before building the odel, you ust set the siulation paraeters. Pull down the Siulation dialog box and select Paraeters. Set the Start tie to 0, the Stop tie to 16, for Solver Option use Fixed-step and ode4 (Runge-Kutta) ethod, set the Fixed-step size, i.e., the sapling rate to In the Siulation drop down enu set the odel to External. Make sure all the controller gains are set. Start the WinCon Server on your laptop and then use Client Connect, in the dialog box type the proper Client workstation IP address. Generate the real-tie code corresponding to your diagra by selecting the Build option of the WinCon enu fro the Siulink window. The MATLAB window displays the progress of the code generation task. Wait until the copilation is coplete. The following essage then appears: ### Successful copletion of Real-Tie Workshop builds procedure for odel: Lab9_Ip. 9.13
14 3.4 Running the code Following the code generation, WinCon Server and WinCon Client are autoatically started. The generated code is autoatically downloaded to the Client and the syste is ready to run. Make sure the Manual Switch in Siulink ipleentation diagra is connected to the upper terinal coing fro the Signal generator. If not double-click on the switch. To start the controller to run in real-tie, click on the Start icon fro the WinCon Server window shown in Figure It will turn red and display STOP. Clicking on the Stop icon will stop the real-tie code and return to the green button. Figure 9.17 WinCon Server If you hear a whining or buzzing in the otor you are feeding high frequency noise to the otor or otor is subjected to excessive voltage, iediately stop the otor. Ask the instructor to check the ipleentation diagra and the copensator gains before proceeding again. 3. Plotting Data You can now plot in real-tie any variables (e.g. angles, ball position) of your diagra by clicking on the Plot/New/Scope button (with the scope picture) in the WinCon Server window and selecting the variable you wish to visualize. Select x_o and click OK. This opens one realtie plot. To plot ore variables in that sae window, click on File/Variables fro the Scope window enu. The naes of all blocks in the Siulink odel diagra appear in a Multiple. Select Variable Tree. You can then select the variable(s) you want to plot. In this case, select, for exaple, x_o and x_i. In the Scope pull-down enu, select Buffer and set the Buffer Size to 1. Using Freeze you can freeze the plot. Fro the File enu you can Save and Print the graph. If you choose Save As M-File you save the plot as M-file. Now at the MATLAB propt if you type the file nae you can obtain the MATLAB Figure plot. You can type grid to place a grid on the graph or edit the Figure as you wish. You can also change the controller gains on the fly (i.e. while the controller is running in realtie). To do so, double click on the Siulink Ipleentation gain block, change to the desired new value, and select Apply, or OK. Note the changes in the real-tie plots. If the response is not close to the expected value the bea is not perfectly level when otor angle is at zero position. Raising or lowering the left support to level the bea will iprove the response. In the next part the reote sensor is used for operation in aster/slave tracking ode. This sensor is used, as the input to the Ball & Bea desired position for aking the Ball on the bea follow the ball on the reote sensor. Double-click on the Manual Switch in the Siulink 9.14
15 ipleentation diagra to connect to the Reote Sensor. Move the Ball on the reote sensor and observe the Ball on the bea tracking your oveent and obtain the response. In WinCon Server, use File Save, this saves the copiled controller including all plots as a.wpc (WinCon project) file. In case you want to run the experient again, fro WinCon Server use File/Open to reload this.wcp file, and run the project in real tie independent of MATLAB/Siulink. To prevent excessive wear to the otor and gearbox run the experient for a short tie. 4. Project Report Your report ust include the detailed servo plant and the ball and bea block diagra. Obtain forulas for the servootor controller gains and the ball and bea controller gains, and the design values to eet the design specifications. Include your final K P, K D, KbP, and KbD after fine-tuning, if it was required. Plot the final actual syste response. Discuss the assuption and approxiations ade in odeling the servootor. Explain why the control syste design was feasible through two independent controller loops. Coent on your results; how does experiental response copare to siulated responses. Discuss the reason for any deviation in the actual transient response and the siulated response. 9.1
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 informationTorsion System. Encoder #3 ( 3 ) Third encoder/disk for Model 205a only. Figure 1: ECP Torsion Experiment
Torsion Syste Introduction This lab experient studies dynaics of a torsional syste with single and ultiple degrees of freedo. The effects of various control configurations are studied in later part of
More informationLab 2: Introduction to Real Time Workshop
Lab 2: Introduction to Real Time Workshop 1 Introduction In this lab, you will be introduced to the experimental equipment. What you learn in this lab will be essential in each subsequent lab. Document
More informationLinear Motion Servo Plants: IP01 or IP02. Linear Experiment #0: Integration with WinCon. IP01 and IP02. Student Handout
Linear Motion Servo Plants: IP01 or IP02 Linear Experiment #0: Integration with WinCon IP01 and IP02 Student Handout Table of Contents 1. Objectives...1 2. Prerequisites...1 3. References...1 4. Experimental
More informationLaboratory Manual for DC Servo System Control Platform
Laboratory Manual for DC Servo Syste Control Platfor GSMT Series V1.01 2012.06 www.googoltech.co.cn 2012 Googol Technology. All rights reserved Copyrights Stateent All rights are reserved by The shall
More informationLab 1: Steady State Error and Step Response MAE 433, Spring 2012
Lab 1: Steady State Error and Step Response MAE 433, Spring 2012 Instructors: Prof. Rowley, Prof. Littman AIs: Brandt Belson, Jonathan Tu Technical staff: Jonathan Prévost Princeton University Feb. 14-17,
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 informationParameter Identification of Transfer Functions Using MATLAB
Paraeter Identification of Transfer Functions Using MATLAB Mato Fruk, Goran Vujisić, Toislav Špoljarić Departent of Electrical Engineering The Polytechnic of Zagreb Konavoska, Zagreb, Croatia ato.fruk@tvz.hr,
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 informationELEC2202 Communications Engineering Laboratory Frequency Modulation (FM)
ELEC Counications Engineering Laboratory ---- Frequency Modulation (FM) 1. Objectives On copletion of this laboratory you will be failiar with: Frequency odulators (FM), Modulation index, Bandwidth, FM
More informationExperiment 7: Frequency Modulation and Phase Locked Loops October 11, 2006
Experient 7: Frequency Modulation and Phase ocked oops October 11, 2006 Frequency Modulation Norally, we consider a voltage wave for with a fixed frequency of the for v(t) = V sin(ω c t + θ), (1) where
More informationModeling and Parameter Identification of a DC Motor Using Constraint Optimization Technique
IOSR Journal of Mechanical and Civil Engineering (IOSR-JMCE) e-issn: 2278-684,p-ISSN: 2320-334X, Volue 3, Issue 6 Ver. II (Nov. - Dec. 206), PP 46-56 www.iosrjournals.org Modeling and Paraeter Identification
More informationApplied Digital Control: Optimization for System Identification and Controller Design
Applied Digital Control: Optiization for Syste Identification and Controller Design David G. Wilson Mechanical Engineering University of New Mexico 1. wilson@e.un.edu 2. starr@un.edu 2/27/2006 Lecture
More informationPenn State Erie, The Behrend College School of Engineering
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:
More informationCHAPTER 2 POSITION SERVO DRIVE OF BLDC MOTOR FOR SINGLE LINK ROBOTIC ARM
22 CHAPTER 2 POSITION SERVO DRIVE OF BLDC MOTOR FOR SINGLE LINK ROBOTIC ARM 2.1 INTRODUCTION An industrial autoation involves robotic to handle aterials in different environents with different pay loads
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 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 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 informationAdaptive Harmonic IIR Notch Filter with Varying Notch Bandwidth and Convergence Factor
Journal of Counication and Coputer (4 484-49 doi:.765/548-779/4.6. D DAVID PUBLISHING Adaptive Haronic IIR Notch Filter with Varying Notch Bandwidth and Convergence Factor Li Tan, Jean Jiang, and Liango
More informationRobust Acceleration Control of Electrodynamic Shaker Using µ Synthesis
Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference 5 Seville, Spain, Deceber -5, 5 WeIC8. Robust Acceleration Control of Electrodynaic Shaker Using µ Synthesis
More informationNotes on Orthogonal Frequency Division Multiplexing (OFDM)
Notes on Orthogonal Frequency Division Multiplexing (OFDM). Discrete Fourier ransfor As a reinder, the analytic fors of Fourier and inverse Fourier transfors are X f x t t, f dt x t exp j2 ft dt (.) where
More informationPart 9: Basic AC Theory
Part 9: Basic AC Theory 9.1 Advantages Of AC Systes Dealing with alternating current (AC) supplies is on the whole ore coplicated than dealing with DC current, However there are certain advantages of AC
More informationInterfacing dspace to the Quanser Rotary Series of Experiments (SRV02ET)
Interfacing dspace to the Quanser Rotary Series of Experiments (SRV02ET) Nicanor Quijano and Kevin M. Passino The Ohio State University, Department of Electrical Engineering, 2015 Neil Avenue, Columbus
More informationNINTH INTERNATIONAL CONGRESS ON SOUND AND VIBRATION, ICSV9 PASSIVE CONTROL OF LAUNCH NOISE IN ROCKET PAYLOAD BAYS
first nae & faily nae: Rick Morgans Page nuber: 1 NINTH INTERNATIONAL CONGRESS ON SOUND AND VIBRATION, ICSV9 PASSIVE CONTROL OF LAUNCH NOISE IN ROCKET PAYLOAD BAYS Rick Morgans, Ben Cazzolato, Anthony
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 informationCarlson Software Inc. 102 West 2 nd Street Maysville, KY m Phone: (606) Fax: (606)
Page 1 of 18 Field-to-Finish, SurvCE and Hardware Updated 1/26/2017 Survey Field-to-Finish, in Carlson Survey and SurvCE Minnesota Surveyor s Conference February 8-9, 2017 Bruce Carlson, PE President bcarlson@carlsonsw.co
More informationAccuBridge TOWARDS THE DEVELOPMENT OF A DC CURRENT COMPARATOR RATIO STANDARD
AccuBridge TOWARD THE DEVELOPMENT OF A DC CURRENT COMPARATOR RATO TANDARD Duane Brown,Andrew Wachowicz, Dr. hiping Huang 3 Measureents nternational, Prescott Canada duanebrown@intl.co, Measureents nternational,
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 informationUNIT - II CONTROLLED RECTIFIERS (Line Commutated AC to DC converters) Line Commutated Converter
UNIT - II CONTROLLED RECTIFIERS (Line Coutated AC to DC converters) INTRODUCTION TO CONTROLLED RECTIFIERS Controlled rectifiers are line coutated ac to power converters which are used to convert a fixed
More informationa 2 R ja 2 x l2 R c jx m1
Electric Machinery Labs NQN_version.0 Lab Exercise 6: Siulation of Inrush Currents in Three-Phase Transforers Students ID Group Date I. Introduction: Transforer plays an iportant role in the power transission
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 informationLesson 1: Introduction to Control Systems Technology
8/7/05 Lesson : Introduction to ontrol Systes Technology ET 48a Autoatic ontrol Systes Technology lessonet48a.pptx Learning Objectives After this presentation you will be able to: Explain the function
More informationGE420 Laboratory Assignment 8 Positioning Control of a Motor Using PD, PID, and Hybrid Control
GE420 Laboratory Assignment 8 Positioning Control of a Motor Using PD, PID, and Hybrid Control Goals for this Lab Assignment: 1. Design a PD discrete control algorithm to allow the closed-loop combination
More informationANALOGUE & DIGITAL COMMUNICATION
1 ANALOGUE & DIGITAL COMMUNICATION Syed M. Zafi S. Shah & Uair Mujtaba Qureshi Lectures 5-6: Aplitude Modulation Part 1 Todays topics Recap of Advantages of Modulation Analog Modulation Defining Generation
More informationEE 461 Experiment #1 Digital Control of DC Servomotor
EE 461 Experiment #1 Digital Control of DC Servomotor 1 Objectives The objective of this lab is to introduce to the students the design and implementation of digital control. The digital control is implemented
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 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 informationModeling, Analysis and Speed Control Design Methods of a DC Motor
Design Methods of a DC Motor Dr. Jaal A. Mohaed* Received on: 3/1/009 Accepted on:5 /1/011 Abstract Modern anufacturing systes are autoated achines that perfor the required tasks. The electric otors are
More informationDynamic Model Displacement for Model-mediated Teleoperation
Dynaic Model Displaceent for Model-ediated Teleoperation Xiao Xu Giulia Paggetti Eckehard Steinbach Institute for Media Technology, Technische Universität München, Munich, Gerany ABSTRACT In this paper,
More informationTHE IMPLEMENTATION OF PERMANENT MAGNET SYNCHRONOUS MOTOR SPEED TRACKING BASED ON ONLINEARTIFICIAL NEURAL NETWORK
ISSN 1819-668 26-213 AsianResearch PublishingNetwork (ARPN).Allrights reserved. www.arpnjournals.co THE IMPLEMENTATION OF PERMANENT MAGNET SYNCHRONOUS MOTOR SPEED TRACKING BASED ON ONLINEARTIFICIAL NEURAL
More informationA HIGH POWER FACTOR THREE-PHASE RECTIFIER BASED ON ADAPTIVE CURRENT INJECTION APPLYING BUCK CONVERTER
9th International onference on Power Electronics Motion ontrol - EPE-PEM Košice A HIGH POWER FATOR THREE-PHASE RETIFIER BASE ON AAPTIVE URRENT INJETION APPYING BUK ONVERTER Žarko Ja, Predrag Pejović EE
More informationAchieving High Transparency in Bilateral Teleoperation Using Stiffness Observer for Passivity Control
Acieving Hig Transparency in Bilateral Teleoperation Using tiffness Observer for Passivity Control Reza Monfaredi Karan Razi aeed iri Gydari eied Medi Rezaei Depart. of Mecanical Eng. Depart. of Electrical
More informationEXPERIMENTAL VERIFICATION OF SINUSOIDAL APPROXIMATION IN ANALYSIS OF THREE-PHASE TWELVE-PULSE OUTPUT VOLTAGE TYPE RECTIFIERS
th INTERNATIONAL SYPOSIU on POWER ELECTRONICS - Ee 9 XV eđunarodni sipoziju Energetska elektronika Ee 9 NOVI SAD, REPUBLIC OF SERBIA, October 8 th - th, 9 EXPERIENTAL VERIFICATION OF SINUSOIDAL APPROXIATION
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 informationLab 5: Differential Amplifier.
epartent of Electrical and oputer Engineering Fall 1 Lab 5: ifferential plifier. 1. OBJETIVES Explore the operation of differential FET aplifier with resistive and active loads: Measure the coon and differential
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 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 informationSecondary-side-only Simultaneous Power and Efficiency Control in Dynamic Wireless Power Transfer System
069060 Secondary-side-only Siultaneous Power and Efficiency Control in Dynaic Wireless Power Transfer Syste 6 Giorgio ovison ) Daita Kobayashi ) Takehiro Iura ) Yoichi Hori ) ) The University of Tokyo,
More informationAmplifiers and Feedback
6 A Textbook of Operational Transconductance Aplifier and AIC Chapter Aplifiers and Feedback. INTRODUCTION Practically all circuits using Operational Transconductance Aplifiers are based around one of
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 informationOTC Statistics of High- and Low-Frequency Motions of a Moored Tanker. sensitive to lateral loading such as the SAL5 and
OTC 61 78 Statistics of High- and Low-Frequency Motions of a Moored Tanker by J.A..Pinkster, Maritie Research Inst. Netherlands Copyright 1989, Offshore Technology Conference This paper was presented at
More informationDSI3 Sensor to Master Current Threshold Adaptation for Pattern Recognition
International Journal of Signal Processing Systes Vol., No. Deceber 03 DSI3 Sensor to Master Current Threshold Adaptation for Pattern Recognition David Levy Infineon Austria AG, Autootive Power Train Systes,
More informationPOWER QUALITY ASSESSMENT USING TWO STAGE NONLINEAR ESTIMATION NUMERICAL ALGORITHM
POWER QUALITY ASSESSENT USING TWO STAGE NONLINEAR ESTIATION NUERICAL ALGORITH Vladiir Terzia ABB Gerany vadiir.terzia@de.abb.co Vladiir Stanoevic EPS Yugoslavia vla_sta@hotail.co artin axiini ABB Gerany
More informationCompensated Single-Phase Rectifier
Copensated Single-Phase Rectifier Jānis DoniĦš Riga Technical university jdonins@gail.co Abstract- Paper describes ethods of rectified DC pulsation reduction adding a ensation node to a single phase rectifier.
More informationEXPERIMENTATION FOR ACTIVE VIBRATION CONTROL
CHPTER - 6 EXPERIMENTTION FOR CTIVE VIBRTION CONTROL 6. INTRODUCTION The iportant issues in vibration control applications are odeling the sart structure with in-built sensing and actuation capabilities
More informationRelation between C/N Ratio and S/N Ratio
Relation between C/N Ratio and S/N Ratio In our discussion in the past few lectures, we have coputed the C/N ratio of the received signals at different points of the satellite transission syste. The C/N
More informationEFFECTS OF MASKING ANGLE AND MULTIPATH ON GALILEO PERFORMANCES IN DIFFERENT ENVIRONMENTS
1 EFFECTS OF MASKING ANGLE AND MULTIPATH ON GALILEO PERFORMANCES IN DIFFERENT ENVIRONMENTS M. Malicorne*, M. Bousquet**, V. Calettes*** SUPAERO, 1 avenue Edouard Belin BP 43, 3155 Toulouse Cedex, France.
More informationExp e riment 1a: Intro duction to PC-Base d Data Acquisition and Real-Time Control
Exp e riment 1a: Intro duction to PC-Base d Data Acquisition and Real-Time Control Tools/concepts emphasized: Matlab, Simulink, Real-Time-Workshop (RTW), WinCon, MultiQ-3, data acquisition, and real-time
More informationDesign of a Radioactive Source Sampler Based on CPAC
IJCSI International Journal of Coputer Science Issues, Vol. 0, Issue, No, March 03 ISSN (Print): 694-084 ISSN (Online): 694-0784 www.ijcsi.org Design of a Radioactive Source Sapler Based on CPAC Bin Yang,
More informationKeywords: Equivalent Instantaneous Inductance, Finite Element, Inrush Current.
Discriination of Inrush fro Fault Currents in Power Transforers Based on Equivalent Instantaneous Inductance Technique Coupled with Finite Eleent Method Downloaded fro ijeee.iust.ac.ir at 5:47 IRST on
More informationELE847 Advanced Electromechanical Systems Course Notes 2008 Edition
Department of Electrical and Computer Engineering ELE847 Advanced Electromechanical Systems Course Notes 2008 Edition ELE847 Advanced Electromechanical Systems Table of Contents 1. Course Outline.... 1
More informationNew Control Strategies for a Two-Leg Four-Switch STATCOM
New Control Strategies for a wo-leg Four-Switch SACOM sao-sung Ma, Meber, IEEE Abstract oltage control and fast reactive power copensation are two iportant functions concerning FACS application in the
More informationTESTING OF ADCS BY FREQUENCY-DOMAIN ANALYSIS IN MULTI-TONE MODE
THE PUBLISHING HOUSE PROCEEDINGS OF THE ROMANIAN ACADEMY, Series A, OF THE ROMANIAN ACADEMY Volue 5, Nuber /004, pp.000-000 TESTING OF ADCS BY FREQUENCY-DOMAIN ANALYSIS IN MULTI-TONE MODE Daniel BELEGA
More informationA 1.2V rail-to-rail 100MHz amplifier.
University of Michigan, EECS413 Final project. A 1.2V rail-to-rail 100MHz aplifier. 1 A 1.2V rail-to-rail 100MHz aplifier. Mark Ferriss, Junghwan Han, Joshua Jaeyoung Kang, University of Michigan. Abstract
More informationDesign and Implementation of Serial Port Ultrasonic Distance Measurement System Based on STC12 Jian Huang
International Conference on Education, Manageent and Coputer Science (ICEMC 2016) Design and Ipleentation of Serial Port Ultrasonic Distance Measureent Syste Based on STC12 Jian Huang Xijing University,
More informationMutual Inductance. L (1) l
Mutual Inductance Developers Objectives Preparation Background JD Mitchell, AB Overby and K Meehan The objectives of this experient are to design and construct a transforer and deterine its losses as well
More informationPerformance Analysis of Atmospheric Field Conjugation Adaptive Arrays
Perforance Analysis of Atospheric Field Conjugation Adaptive Arrays Aniceto Belonte* a, Joseph M. Kahn b a Technical Univ. of Catalonia, Dept. of Signal Theory and Coun., 08034 Barcelona, Spain; b Stanford
More informationUSER MANUAL. SRV02 Rotary Servo Base Unit. Set Up and Configuration
Ten modules to teach controls from the basic to advanced level SRV02 Base Unit Flexible Link Inverted Pendulum Ball and Beam USER MANUAL SRV02 Rotary Servo Base Unit Set Up and Configuration 2 DOF Robot
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 informationImpact of the Reactive Power Compensation on Harmonic Distortion Level
pact of the Reactive Power Copensation on Haronic Distortion Level J. A. M. eto,. C. Jesus, L. L. Piesanti Departaento de Tecnologia Universidade Regional do oroeste do Estado do Rio Grande do Sul juí
More informationIntermediate-Node Initiated Reservation (IIR): A New Signaling Scheme for Wavelength-Routed Networks with Sparse Conversion
Interediate-Node Initiated Reservation IIR): A New Signaling Schee for Wavelength-Routed Networks with Sparse Conversion Kejie Lu, Jason P. Jue, Tiucin Ozugur, Gaoxi Xiao, and Irich Chlatac The Center
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 informationDesign of a Microcontroller Based Automatic Voltage Stabilizer with Toroidal Transformer
Design of a Microcontroller Based utoatic Voltage Stabilizer with Toroidal Transforer Thet Htun ung Departent of Electrical Power Engineering Mandalay Technological University Myanar bstract- Every electrical
More information] (1) Problem 1. University of California, Berkeley Fall 2010 EE142, Problem Set #9 Solutions Prof. Jan Rabaey
University of California, Berkeley Fall 00 EE4, Proble Set #9 Solutions Ain Arbabian Prof. Jan Rabaey Proble Since the ixer is a down-conversion type with low side injection f LO 700 MHz and f RF f IF
More informationA New Localization and Tracking Algorithm for Wireless Sensor Networks Based on Internet of Things
Sensors & Transducers 203 by IFSA http://www.sensorsportal.co A New Localization and Tracking Algorith for Wireless Sensor Networks Based on Internet of Things, 2 Zhang Feng, Xue Hui-Feng, 2 Zhang Yong-Heng,
More informationA Wireless Transmission Technique for Remote Monitoring and Recording System on Power Devices by GPRS Network
Proceedings of the 6th WSEAS International Conference on Instruentation, Measureent, Circuits & Systes, Hangzhou, China, April 15-17, 007 13 A Wireless Transission Technique for Reote Monitoring and Recording
More information3D HELICOPTER SYSTEM (WITH ACTIVE DISTURBANCE)
3D HELICOPTER SYSTEM (WITH ACTIVE DISTURBANCE) 1 SYSTEM DESCRIPTION The 3D Helicopter consists of a base upon which an arm is mounted. The arm carries the helicopter body on one end and a counterweight
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 informationOptimal Modulation Index of the Mach-Zehnder Modulator in a Coherent Optical OFDM System Employing Digital Predistortion
Optial Modulation Index of the Mach-Zehnder Modulator in a Coherent Optical OFDM yste Eploying Digital redistortion David Rörich, Xiaojie Wang, Michael Bernhard, Joachi peidel Universität tuttgart, Institut
More informationA simple charge sensitive preamplifier for experiments with a small number of detector channels
A siple charge sensitive preaplifier for experients with a sall nuber of detector channels laudio Arnaboldi and Gianluigi Pessina Istituto Nazionale di Fisica Nucleare (INFN) Università degli Studi di
More informationL It indicates that g m is proportional to the k, W/L ratio and ( VGS Vt However, a large V GS reduces the allowable signal swing at the drain.
Field-Effect Transistors (FETs) 3.9 MOSFET as an Aplifier Sall-signal equivalent circuit odels Discussions about the MOSFET transconductance W Forula 1: g = k n ( VGS Vt ) L It indicates that g is proportional
More informationEinstein Classes, Unit No. 102, 103, Vardhman Ring Road Plaza, Vikas Puri Extn., Outer Ring Road New Delhi , Ph. : ,
AENAING CUEN PAC 7. Introduction : Q. What is direct current? Solution : Direct current does not change direction with tie. Q. What is alternating current? Solution : Alternating currents and voltages
More informationA Novel Control Scheme to Reduce Storage Capacitor of Flyback PFC Converter
International Journal of Electronics and Electrical Engineering Vol. 4, No., April 6 A Novel Control Schee to Reduce Storage Capacitor of Flyback PFC Converter Boyang Chen and Lei Li College of Autoation,
More informationNew Adaptive Linear Combination Structure for Tracking/Estimating Phasor and Frequency of Power System
28 Journal of Electrical Engineering & echnology Vol. 5, No., pp. 28~35, 2 New Adaptive Linear Cobination Structure for racking/estiating Phasor and Frequency of Power Syste Choowong-Wattanasakpubal and
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 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 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 informationANALYSIS AND SIMULATION OF PULSE TRANSFORMER CONSIDERING LEAKAGE INDUCTANCE AND CAPACITANCE
ANALYSIS AND SIMULATION OF PULSE TRANSFORMER CONSIDERING LEAKAGE INDUCTANCE AND CAPACITANCE ABOLFAZL VAHEDI, HOSSEIN HEYDARI, and FARAMARZ FAGHIHI Electrical Engineering Departent, High Voltage & Magnetic
More informationCharacteristics of a Stand-Alone Induction Generator in Small Hydroelectric Plants
Characteristics of a Stand-Alone nduction Generator in Sall Hydroelectric Plants M. H. Haque School of Electrical and Electronic Engineering Nanyang Technological University Singapore 69798 Abstract-This
More informationLOW COST PRODUCTION PHASE NOISE MEASUREMENTS ON MICROWAVE AND MILLIMETRE WAVE FREQUENCY SOURCES
Page 1 of 10 LOW COST PRODUCTION PHASE NOISE MEASUREMENTS ON MICROWAVE AND MILLIMETRE WAVE FREQUENCY SOURCES Hugh McPherson Spectral Line Systes Ltd, Units 1,2&3 Scott Road, Tarbert, Isle of Harris. www.spectral-line-systes.co.uk
More informationAdditive Synthesis, Amplitude Modulation and Frequency Modulation
Additive Synthesis, Aplitude Modulation and Frequency Modulation Pro Eduardo R Miranda Varèse-Gastproessor eduardo.iranda@btinternet.co Electronic Music Studio TU Berlin Institute o Counications Research
More informationA Novel Sine Duty-Cycle Modulation Control Scheme for Photovoltaic Single-Phase Power Inverters
Leandre Nnee Nnee, Jean Mbihi A Novel Sine Duty-Cycle Modulation Control Schee for Photovoltaic Single-Phase Power Inverters ARNAUD OBONO BIYOBO Research Laboratory of Coputer Science Engineering and Autoation
More informationSIG: Signal-Processing
TH Köln - Technology, Arts, Sciences Prof. Dr. Rainer Bartz SIG: Signal-Processing Copendiu (6) Prof. Dr.-Ing. Rainer Bartz rainer.bartz@th-koeln.de Contact: eail: website: office: rainer.bartz@th-koeln.de
More informationFiber Bragg grating based four-bit optical beamformer
Fiber Bragg grating based four-bit optical beaforer Sean Durrant a, Sergio Granieri a, Azad Siahakoun a, Bruce Black b a Departent of Physics and Optical Engineering b Departent of Electrical and Coputer
More informationEQUALIZED ALGORITHM FOR A TRUCK CABIN ACTIVE NOISE CONTROL SYSTEM
EQUALIZED ALGORITHM FOR A TRUCK CABIN ACTIVE NOISE CONTROL SYSTEM Guangrong Zou, Maro Antila, Antti Lanila and Jari Kataja Sart Machines, VTT Technical Research Centre of Finland P.O. Box 00, FI-0 Tapere,
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 informationPrecise Indoor Localization System For a Mobile Robot Using Auto Calibration Algorithm
Precise Indoor Localization Syste For a Mobile Robot Using Auto Calibration Algorith Sung-Bu Ki, JangMyung Lee, and I.O. Lee : Pusan National University, http://robotics.ee.pusan.ac.r, : Ninety syste Abstract:
More informationThe sensor must not be placed behind a panel or any other material.
EAGLE THREE - N USER S GUIDE SELFMONITORED MOTION SENSOR FOR AUTOMATIC ESCAPE DOORS* TECHNICAL SPECIFICATION Technology : icrowave and icroprocessor Transitter frequency : 24.150 GHz Transitter radiated
More informationDesign of Pretension Tubular Rope Machine Control System Based on RBFNN Tuning PID
06 International Conference on Coputer, Mechatronics and Electronic Engineering (CMEE 06) ISBN: 978--60595-406-6 Design of Pretension ubular Rope Machine Control Syste Based on RBFNN uning PID Hui LI and
More informationNONLINEAR WAVELET PACKET DENOISING OF IMPULSIVE VIBRATION SIGNALS NIKOLAOS G. NIKOLAOU, IOANNIS A. ANTONIADIS
NONLINEAR WAVELET PACKET DENOISING OF IMPULSIVE VIBRATION SIGNALS NIKOLAOS G. NIKOLAOU, IOANNIS A. ANTONIADIS Departent of Mechanical Engineering, Machine Design and Control Systes Section National Technical
More information