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OBJECTIVES
The objectives of this laboratory session are to become familiar with the Quanser servo cart components, its
operation, and simulation of the system using MATLAB Simulink.
In Experiment #0, students will:
Become familiar with the IP02 cart, the PC operation and cart position encoder readout.
In Experiment #1, students will:
mathematically model the system
calculate the required controller gains (Kv and Kp) for the system controller to meet performance
requirements
o Peak time
o Percent overshoot.
Obtain specified values of n, frequency, and , damping ratio.
Test your results on the servo cart and computer simulation.
REFERENCES
[1]
[2]
[3]
EQUIPMENTORIENTATION
1) KnowledgeTest[2],pg.17.AllanswersinReference[1]unlessotherwisestated.
a) HowmanyactuatorsdoestheIP02have?
b) HowmanysensorsdoestheIP02have?
c) WhichD/AchanneldrivestheUPM?
d) WhichD/AchanneldrivestheDCmotor?
e) WhichencoderchannelmeasurestheIP02cartencodercounts?
f) Whichencoderchannelmeasuresthependulumencodercounts?
g) Whyisthesignofthecalibrationconstantimportant?
h) Whydoesthecablegainhavetobecompensatedforinthemotormodel?Refs.[1]and[2].
LAB ACTIVITIES
1) Follow the procedure on Page14,Ref.[2]BLUEDOT.
a) CalibrationfactorasstatedinRef.[2]:________________________________mm/count.
b) RecordthecartPositionandDisplacement.
MME/ECE436
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Start
Measured(tapemeasure)
DisplayedMeasure
Stop
mm
mm
Displacement
mm
mm
%error:
mm
mm
%
DESIGN ACTIVITY
Objective: Design a Proportional-Velocity position controller from given time domain specifications.
i) The Percent Overshoot should be equal to 10 %: PO = 10 %.
ii) The time to first peak should be 150 ms: tp = 0.15 s.
MODELLING AND PARAMETER ESTIMATION
Using Ref. [3] RED DOT, appendix B, derive the Open-loop transfer function of our IP02 system from
mechanical and electrical first principles. Parameter values are given in Ref. [1] GREEN DOT.
G(s) = x(s)/Vm(s) =
Evaluate the open-loop transfer function to determine the plants poles, zeros and DC gain (velocity error
constant).
G(s) = A / (S + B) S
Poles ~ _______, _______
A = _______ B = _______
zeros ~ _______, _______
DC gain = ________
1) Given the basic diagram for the PV controller. Perform block diagram reduction and obtain the overall
closed-loop transfer function. NOTE: Kv and Kp in the following diagram are gain values not error
constants.
MME/ECE436
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MME/ECE436
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2)
What if?
Kp=408 Kv=10.4
PO ________ Tp _________
ii) Is there a discrepancy in the results? If so, find some possible reasons.
iii) How did you actually measure your system Tp and PO?
If so, what were they and how were you able to overcome
them.
2) After completion of this lab, you should be confident in tuning this type of controller to achieve a desired response.
3) Most controllers of this form also introduce an integral action into the system (PID).
this experiment?