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Unformatted text preview: Question 2 The proceeding simulations compares the effects of the proportional and integral gains on the closedloop dynamic behavior of the car cruise control system. 5 10 15 20 25 30 19.6 19.7 19.8 19.9 20 20.1 20.2 20.3 Time (s) Velocity (m/s) k p = .5, k I = .1 k p = .8, k I = .1 k p = .5, k I = .3 v des Figure 1: A comparison of car velocity given different proportional (P) and integral (I) gains: the original system, k P = . 5 , k I = . 1 (solid), higher P gain, k P = . 8 , k I = . 1 (dash), and higher I gain k P = . 5 , k I = . 3 (dotdash). 5 10 15 20 25 30 35 40 45 50 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 Time (s) Throttle kp = .5, kI = .1 kp = .8, kI = .1 kp = .5, kI = .3 Figure 2: A comparison of controlled throttle input given different proportional (P) and integral (I) gains: the original system, k P = . 5 , k I = . 1 (solid), higher P gain, k P = . 8 , k I = . 1 (dash), and higher I gain k P = . 5 , k I = . 3 (dotdash)....
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 Winter '10
 Bitmead

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