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PROJECT ANALYSIS

PROJECT ANALYSIS - Page 1 EE-4580 CONTROL DESIGN PROJECT 2...

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Page: 1 EE-4580 CONTROL DESIGN PROJECT 2- BALL AND BEAM SYSTEM JASON MCALLISTER 438-49-4726 11-17-04

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Page: 2 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. For the outer loop, the performance requirements are specified as follows: A. Steady state error to a step input (ess): 2% B. Overshoot (Mp): 5% C. Settling Time (Ts): 5 seconds D. Time to Peak (Tp): 2 seconds INNER LOOP 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.
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PROJECT ANALYSIS - Page 1 EE-4580 CONTROL DESIGN PROJECT 2...

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