Ball@Beam - Page: 1 Project 1 EE 4002 Alicia Corbett...

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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.
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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. The block diagram of the system with the position control loop is:
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This note was uploaded on 01/23/2012 for the course EE 4580 taught by Professor Gu during the Fall '10 term at LSU.

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Ball@Beam - Page: 1 Project 1 EE 4002 Alicia Corbett...

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