Page: 1
Project 1
EE 4002
Alicia Corbett
Michael Dantin
Scott Hammatt
Patrick Quebedeaux
Introduction
The first logical step in designing a feedback controller for the ball and beam
system is to analyze the DC motor, the part of the system that causes the beam and ball to
move to a selected position.
The DC motor’s transfer function, a mathematical
expression of the relationship between the output and the input is given.
Once the
parameters of the motor are known, a very basic diagram of the DC motor with a
proportional gain and velocity feedback acting on the motor provides a means to obtain
the transfer function.
The transfer function is then used to set the values for the gain and
velocity feedback.
These values satisfy the given specifications for less than 5%
overshoot and approximately 5 second settling time of within 2% of the final value.
To achieve the specifications given, the inner loop needed to be 3 to 5 times faster
than the outer loop.
It is seen in the design below that an inner loop system is 4 times
faster than the outer loop system.
In the initial design, three lead compensators were used
for a chosen crossover frequency.
This initial design was tested in the lab, which failed
and needed to be redesigned.
This preview has intentionally blurred sections. Sign up to view the full version.
View Full Document
Page: 2
Position Control Loop for the DC Servo
With the motor parameters defined, a proportional gain, K
1
, and a velocity feedback gain,
K
2
, can be added into design the position control loop. K
1
and K
2
can be set based on the
specifications of overshoot less than 5% and settling time less than or equal to 5 seconds.
This is the end of the preview.
Sign up
to
access the rest of the document.
 Fall '10
 GU
 Crossover Frequency, position control loop, DC Servo, Alicia Corbett

Click to edit the document details