controls_report

controls_report - EE 3350 Design project By Maurya...

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EE 3350 Design project By Maurya Ramadurgam
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Part I: Designing a Position Control Loop for the DC Servo The first part required 3 primary steps 1.) Determine the motor parameters A m and T m using experimental measurements of the motor response to a step in armature voltage. 2.) Determine the values K p and K d , as functions of A m and T m , so that the position control loop has a settling time of one second and negligible overshoot. 3.) Refine and verify the design by simulation. To accomplish the first step, a DCStep file with measurements of Angle (theta) and time (sec) was given. This file was the Step Response of DC Servo. Using Matlab to plot all the points, a graph was created. The graph is shown in the next page. Although the graph starts off exponential, within a short time (after 5 time constants), the graph becomes linear. A formula to find A m was already known. This formula only works for the linear portion of the graph. Slope of linear portion of graph = A m *V o The armature voltage(V o ) was already given. It was to be setup for 8 volts. A set of points from the DCStep file were chosen to find the slope. To increase accuracy 10 points were chosen to find 5 slopes. The first point chosen was 1.1. At this point, very little of the logarithmic portion of the line remained, and most of the future values followed a linear pattern.
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DCStep location of points Time Theta Slopes Final Slope 2201 1.1 1.0677 14.48 14.7256 2401 1.2 2.5157 2601 1.3 3.9884 14.726 2801 1.4 5.461 3001 1.5 6.9459 14.787 3201 1.6 8.4246 3401 1.7 9.9095 14.785 3601 1.8 11.388 3801 1.9 12.873 14.85
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controls_report - EE 3350 Design project By Maurya...

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