homework#4

# homework#4 - Block Diagram Question 1 G a in 3 2.8 6 S te p...

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Block Diagram Question 1. I a T e m w T m ( L ) T o r q u e 1 0 . 0 0 1 5 s + 0 . 0 2 T r a n s f e r F c n ( w i t h i n i t i a l o u t p u t s ) 1 0 . 0 0 5 s + 0 . 1 T r a n s f e r F c n t o r q u e _ a T o F i l e 3 c u r r e n t _ a T o F i l e 1 s p e e d _ w T o F i l e S t e p 1 P I D S p e e d C o n t r o l l e r S c o p e 3 S c o p e 1 S c o p e 2 . 8 6 G a i n 3 1 2 0 G a i n 2 2 . 8 6 G a i n 1 P I D C u r r e n t C o n t r o l l e r 1 8 8 C o n s t a n t

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Question 1 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 -15 -10 -5 0 5 10 15 20 Time (sec) Current (A) Armature Current I=1.3A I=15.2A 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 150 155 160 165 170 175 180 185 190 195 Time (sec) Speed (rads/sec) Speed w=188.04 w=188.0
Block Diagram Question 2. I a X T e m T o r q u e x n 1 0 . 0 6 0 7 s + 0 . 0 8 6 9 T r a n s f e r F c n ( w i t h i n i t i a l o u t p u t s ) 1 0 . 0 7 2 s + 4 . 0 T r a n s f e r F c n P I D T o r q u e C o n t r o l l e r p o s i t i o n _ a T o F i l e 4 c u r r e n t _ a T o F i l e 1 s p e e d _ w T o F i l e S t e p P I D S p e e d C o n t r o l l e r S c o p e 4 S c o p e 1 S c o p e P I D P o s i t i o n C o n t r o l l e r 1 s I n t e g r a t o r 0 . 2 G a i n 6 2 2 G a i n 5 1 / 0 . 2 G a i n 4 0 . 2 G a i n 3 1 . 2 6 G a i n 2 1 . 2 6 G a i n 1 2 0 C o n s t a n t

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Question 2 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 -1 0 1 2 3 4 5 6 7 8 x 10 5 Time (sec) Current (A) Armature Current I ~ -50A I =57,000A 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 -12000 -10000 -8000 -6000 -4000 -2000 0 2000 4000 6000 Time (sec) Speed (rads/sec) Speed w=3.3rad/s w=3.3rad/s
Question 2 (Cont.) 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0 2 4 6 8 10 12 14 16 18 20 Time (sec) Position (m) Position X=20m X=20m M files used during simulation:
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