c2proj

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

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Unformatted text preview: Ball Balancing Beam By: Jabari S. Harvey EE 4580 Design Project #2 11-17-04 [ inner loop] Calculations: = ) | . | ln ( | . . ln | 2 O P O P + = 0.59 T s = n 6 . 4 , 4 = n ) 59 . ( 6 . 4 n = 1.95 rad/sec choose n to be 3x to 5x n : 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 6 . 4 k p = m m n A T 2 = 8408 . 1 ) 0272 . 1 )( 35 . 4 ( 2 = 10.55 k d = m m n A T 1 2- = 2.24 [outer loop] Calculations: Attenuation: 2 2 2 2 n n n s s + + = 92 . 18 13 . 5 09 . 22 2 + + s s Plant: 2 6223 . s g L = n n 2 ) 6223 . ( = .527 G L = 20 log 10 (g L ) = -5.56 dB P.M. = 100 = 59 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]....
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c2proj - Ball Balancing Beam By: Jabari S. Harvey EE 4580...

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