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Matthew Quintana
EE3530
Project II:
Based on Project I
December 13, 2002
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View Full DocumentSUMMARRY
The purpose of Project I was to derive a mathematical model for the DC motor.
Then we
did an analysis of the transfer function with respect to J
L
(moment of inertia for a load).
And after employing feedback, describe the frequency shape of the sensitivity for the
feedback system.
Finally we found simplified models (i) by omitting the electrical
subsystem in modeling, and (ii) eliminating the nondominant poles.
The DC motor model obtained is Project I:
G(s) =
b
,
s
4
+ a
1
s
3
+ a
2
s
2
+ a
3
s + a
4
b=5x10
8
a
1
=139.4615
a
2
=17884.6154
a
3
=1.29385x10
6
a
4
=32x10
6
INTRODUCTION
For Project II we are going to design a unity feedback control system.
There are two
main parts to this project.
The first part includes design of a PID compensator using
either pole/zero cancellation and approximation or using ultimate gain method as in
ZieglerNichols tuning.
We must have a 12% overshot and a settling time error of 4%.
Part II is to analyze the performance of the design.
The system will be analyzed in terms
of (a) Transient performance and steady state performance, (b) Sensitivity requirement
based on Project I, (c) Disturbance rejection in low frequency range, and (d) Noise
rejection in high frequency range.
PART I
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 Fall '07
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