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Controls Project 1

Controls Project 1 - J ohnnyLara EE4002 DesignProject2...

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Johnny Lara EE 4002 Design Project 2: Digital Control of the  Ball-Beam System
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May 3, 2004 Introduction The purpose of this project is to gain experience and knowledge of the performance of an uncompensated system and how it reflects our design if the system is unstable. By doing so, we try to understand the overall system in both continuous and discretized domain. We are to use Matlab as a tool to aid us throughout the entire process. This project is based on project 1 using it as the continuous time system to be discretized. This project asks to use Simulink to verify the design of the project which must consist of the following: 1. Program the continuous-time nonlinear ball-beam model using the Simulink tool-box, and the continuous-time controller from Project 1, to simulate the feedback control system, and to analyze the performance with comparisons to the lab experimental results. 2. Linearize the ball-beam system and discretize it using both time-domain and frequency-domain methods. Discretize the continuous -time controller using both time- domain and frequency-domain methods. Analyze the fidelity of the plant model, and the performance loss with respect to the sampling period for each method using Simulink. 3. Based on the simulation results, recommend the descretization method, the
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sampling period, and the final feedback controller with performance analysis for the feedback system consisting of the continuous-time nonlinear plant model and discrete- time controller. The recommended sampling period should be the one that is the largest among those which provide acceptable performance. Project Summary Our goal is to design two compensators: one for the actuator which is a D.C. Motor (inner-loop), and the other is for the ball and beam system (outer-loop). The key is to decouple the two designs by making the closed-loop system into a two different time scale system. The inner-loop will be a fast system, and the outer loop a slow system. For the inner-loop, we design PD control to assign the inner-loop (closed-loop) poles to relatively far away from the imaginary axis.
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