c2proj

# c2proj - Ball Balancing Beam By Jabari S Harvey EE 4580...

This preview shows pages 1–6. Sign up to view the full content.

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
This is the end of the preview. Sign up to access the rest of the document.

Unformatted text preview: Ball Balancing Beam By: Jabari S. Harvey EE 4580 Design Project #2 11-17-04 [ inner loop] Calculations: = ξ ) | . | ln ( | . . ln | 2 O P O P + Π = 0.59 T s = n ξϖ 6 . 4 , 4 = n ϖ ) 59 . ( 6 . 4 ω n = 1.95 rad/sec choose ω n to be 3x to 5x ξ ω n : ω n = (3.45 ~ 5.75) = 4.35 A m = 1.8408 T m = 1.0272 p 1 = 1 + s T A s k m m p 1 st loop = -k d 1 + s T A m m , 2 nd loop = s k p- 1 + s T A m m T(s) = 1 1 1 + + + + s T A s k s T A k T A k m m p m m d m m p = n ξϖ 6 . 4 k p = m m n A T 2 ϖ = 8408 . 1 ) 0272 . 1 )( 35 . 4 ( 2 = 10.55 k d = m m n A T 1 2- ξϖ = 2.24 [outer loop] Calculations: Attenuation: 2 2 2 2 n n n s s ϖ ξϖ ϖ + + = 92 . 18 13 . 5 09 . 22 2 + + s s Plant: 2 6223 . s g L = n n ξϖ ϖ 2 ) 6223 . ( = .527 G L = 20 log 10 (g L ) = -5.56 dB P.M. = 100° = 59° ξ Output data from lab: red line - position blue line – armature voltage The objective of this project is to create a design of a D.C. motor that will balance a ball on a beam. The design consists of two compensators: one for the actuator is a D.C. motor [inner- loop] and the other is for a ball and beam system [outer-loop]. The key is to decouple the two loop] and the other is for a ball and beam system [outer-loop]....
View Full Document

{[ snackBarMessage ]}

### Page1 / 7

c2proj - Ball Balancing Beam By Jabari S Harvey EE 4580...

This preview shows document pages 1 - 6. Sign up to view the full document.

View Full Document
Ask a homework question - tutors are online