miniprj1_soln - 


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Unformatted text preview: 
 Figure
1:

(problem
1)
results
of
open
loop
simulation
of
the
non‐linear
car
model,
in
 response
to
step
changes
in
the
throttle
angle.
 
 
 
 
 Figure
2:
(problem
3)
Comparison
of
the
prediction
by
the
linear
and
the
non‐linear
 model.
Note
that
the
linear
model
assumes
initial
speed
is
v_0.

 
 
 Figure
3:
(problem
5)
closed
loop
step
responses
for
various
values
of
the
step
(with
 linear
model)
with
the
designed
PI
controller.
 Figure
4:
The
control
signals
for
various
values
of
the
step
commands.
 
 
 Figure
5:
The
corresponding
throttle
angles.
(Many
of
you
did
not
pay
attention
to
 the
fact
that
the
throttle
can
only
be
between
0
and
4.
The
controller
you
designed,
 asked
for
throttle
angle
values
far
larger
than
what
is
possible.
The
reason
for
that
 was
that
your
control
gains
were
too
high)
 0.12 0.1 0.08 0.06 y/v0 0.04 0.02 0 !0.02 0 2 4 6 8 10 
 Figure
6
(problem
6):
|y/v_0|
becomes
>
0.1
(and
so
the
linearity
assumption
is
 time (sec) violated)
for
a
step
command
of
2.67
(see
part6.m)
 ...
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This note was uploaded on 06/06/2011 for the course EML 4312 taught by Professor Dixon during the Fall '07 term at University of Florida.

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