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ps6_soln

ps6_soln - EE 428 Problem Set 6 Solutions-10 Problem...

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EE 428 Problem Set 6 Solutions -10- Problem 25 : (part 5) t theta_o Step Ktheta Ktheta tau.s +s 2 KG * K * [KD, KP] / KT(s) Controller and Plant Clock 0 0.1 0.2 0.3 0.4 0.5 0 0.2 0.4 0.6 0.8 1 1.2 1.4 time [sec] θ o (t) [deg] Unit-step input at t = 0 sec closed-loop response with PD control desired response

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EE 428 Problem Set 6 Solutions -11- Problem 23: (part 5) % EE 428 Fall 2007 % Problem Set 6 Problem 25 part 5 % clear the workspace clear close all % plant parameters Ktheta = 28.4e-3; KG = 6/70; KT = 1.5e-3; K = 1.2; tau = 0.021; % desired transient response specifications Mp = 0.05; tp = 0.1; % determine zeta, wd, and wn of complex pole pair sd, sd* zeta = abs(log(Mp)) / sqrt( log(Mp)^2 + pi^2); wd = pi / tp; wn = wd / sqrt( 1- zeta^2); sd = -zeta*wn + j * wd; % calculate the desired unit-step response [theta_d, t_d] = step ( tf([wn^2], [1, 2*zeta*wn, wn^2]) ); % compute controller gains KD = (2*zeta*wn*tau - 1) / ( Ktheta * KG * K /KT); KP = tau * wn^2 / ( Ktheta * KG * K /KT); % locate the finite zero of the closed-loop system z = - KP/KD; % run the simulation in SIMULINK % set the step time to 0 % set tfinal to 0.5 sec % set refine factor (see Lab 1) to 1000 for improving est of Mp and tr sim(
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ps6_soln - EE 428 Problem Set 6 Solutions-10 Problem...

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