Chapter 6 the control lab
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Chapter 6 The Control Lab. Automatic Control Systems, 9 th Edition F. Golnaraghi & B. C. Kuo. 1, p. 337. 6-1 Introduction. Main objectives of this chapter : To provide an in-depth description of dc motor speed response, speed control, and position control concepts.

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Chapter 6 The Control Lab

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Chapter 6The Control Lab

Automatic Control Systems, 9th Edition

F. Golnaraghi & B. C. Kuo


1, p. 337

6-1 Introduction

Main objectives of this chapter:

  • To provide an in-depth description of dc motor speed response, speed control, and position control concepts.

  • To provide preliminary instruction on how to identify the parameters of a system.

  • To show how different parameters and nonlinear effects such as friction and saturation affect the response of the motor.

  • To give a better feel for controller design through realistic examples.

  • To get started using the SIMlab and Virtual Lab.

  • To gain practical knowledge of the Quarter Car Sim software.


2, p. 338

6-2 Description of the VirtualExperimental System


2, p. 338

Block Diagram

armature-controlled dc motor

amplifier

speed sensor

armature-controlled dc motor

amplifier

position sensor


3, p. 340

6-3 Description of SIMLab andVirtual Lab Software

1. Navigate to the appropriate directory in the MATLAB command window.

2. Type acsys at the command prompt.


3, p. 342

Experiment Menu and Control Window


3, p. 343

Simulink Model

  • Experiment 1:

Double-click


3, p. 343

Simulink: Configuration Parameters


4, p. 345

6-4 Simulation and Virtual Experiments

  • Open-loop speed

(Experiment 3)


4, p. 347

Speed Response (Experiment 3)


4, p. 348

Open-Loop Sine Input (Experiment 4)


4, p. 349

Time Response (Experiment 4)


4, p. 350

Speed Control (Experiment 1)

Closed-loop speed controlspeed sensor: Kt = 1 V/rad/sec


4, p. 351

Speed Control Response (Experiment 1)


4, p. 353

Position Control (Experiment 2)


4, p. 353

Position Response (Experiment 2)


5, p. 354

6-5 Design Project 1 – Robotic Arm


5, p. 355

Experiment 5: Simulink Model


5, p. 356

Position Response for Experiment 5


6, p. 357

6-6 Design Project 2 –Quarter-Car Model

  • See Example 4-11-3 for detail description


6, p. 358

Block Diagram: open-loop system


6, p. 359

Block Diagram: position control

  • Assume the motor electric-time constant is insignificant


6, p. 359

Simplified System of Fig. 6-29

  • Set the command voltage Vin(s) = 0 V E(s) = 0 –KsZ(s)


6, p. 360

Closed-Loop Acceleration Control


6, p. 361

Absolute Acceleration Control System

(a) Block diagram

(b) Simplified block diagram


6, p. 361

Quarter Car Modeling Tool


6, p. 362

Control Window


6, p. 364

Axes Controls

Transfer function popup menu GC, GP, GH, GA in Fig. 6-37


6, p. 365

Passive Suspension


6, p. 366

Closed-Loop Relative Position Control


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