Module3 - LEARNINGOBJECTIVES UseMATLAB/ 1. 2. 3. 4./Mat

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MECH 431L – C ONTROL S YSTEMS L ABORATORY M ODULE 3 – I NTRODUCTION TO S IMULINK L EARNING OBJECTIVES Use MATLAB / SIMULINK to perform the following: 1. Build block diagrams from individual blocks 2. Form transfer function from block diagram 3. Construct Simulink models 4. Transfer from Simulink/Matlab files U SEFUL F UNCTIONS Command Description Sys = feedback(fwd_tf,feedbk_tf) Feedback connection of two LTI models Poly = conv(poly1,poly2) Convolution and polynomial multiplication Poly = deconv(poly1,poly2) Deconvolution and polynomial division [num,den] = tfdata(sys,’v’) Returns transfer function data A CTIVITY 1: Given the specifications for the dc motor shown in the figure: Amplifier gain A v = 10V/V Motor Torque constant K T = 10.7 oz-in/A Motor voltage constant K E = 0.0754 V/rad/sec Tachometer gain K tach = 0.056 V/rad/sec Motor armature resistance R a = 1.62 Motor armature inductance L a = 0.00399H Motor viscous damping coefficient B = 0.00955 oz-in/rad/sec Motor and load inertia J = 0.0067 oz-in-s 2 1 MECH431 – SP09 Mechanical Engineering Department, American University of Beirut Matlab Code: % System parameters Av = 10; Ta = 0; Kt = 10.7; Ke = 0.0754; Ktach = 0.076; Ra = 1.62; La = 0.00339; B = 0.00955; Jt = 0.0067; % System parameters nume = Kt; dene = [Ra La]; % electrical motor model numm = 1; denm = [B Jt]; % mechanical motor mod el numM = conv (nume, numm); % combined numerator motor model denM = conv (dene, denm); % combined denominator motor model motS = tf (numM, denM); % form motor transfer function motP = feedback (motS, Ke); % form closed loop motor model sys = feedback (10*motP, Ktach); % closed loop motor + sensor model
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Transfer function: 107 ‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐‐ 0.01547 s^2 + 0.01089 s + 8.939
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This note was uploaded on 02/07/2011 for the course MECH 431L taught by Professor Danielasmar during the Spring '09 term at American University of Beirut.

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Module3 - LEARNINGOBJECTIVES UseMATLAB/ 1. 2. 3. 4./Mat

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