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# Module4 - MECH 431L CONTROL SYSTEMS LABORATORY MODULE 4...

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1 MECH431 – SP09 Mechanical Engineering Department, American University of Beirut MECH 431L C ONTROL S YSTEMS L ABORATORY M ODULE 4 S IMULINK PART 2 L EARNING OBJECTIVES Use MATLAB / SIMULINK to perform the following: 1. Extract linear model information from simulink to matlab. 2. Create masked PID subsystems using simulink. 3. Use the PID block to optimize the system response. U SEFUL F UNCTIONS Command Description [A,B,C,D] = linmod(‘dcmotor’) Obtains the state space linear model defined by the simulink model ‘dcmotor’. [num,den] = ss2tf(A,B,C,D) Converts from state space to transfer function. A CTIVITY 1 Given a dc motor defined by the following set of equations: With the following specifications: Torque constant K t = 0.01Nm/A Voltage Constant K e = 0.01V/rad/sec Armature resistance R = 1Ω Armature inductance L = 0.5 H Damping coefficient b = 0.1Nm/rad/sec Load inertia J = 0.01kgms 2

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2 MECH431 – SP09 Mechanical Engineering Department, American University of Beirut Build the simulink model as shown: After builnding the simulink model, save it as ‘dcmotor’ and switch to matlab.
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