Chapter 6 the control lab
This presentation is the property of its rightful owner.
Sponsored Links
1 / 30

Chapter 6 The Control Lab PowerPoint PPT Presentation


  • 115 Views
  • Uploaded on
  • Presentation posted in: General

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.

Download Presentation

Chapter 6 The Control Lab

An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -

Presentation Transcript


Chapter 6 the control lab

Chapter 6The Control Lab

Automatic Control Systems, 9th Edition

F. Golnaraghi & B. C. Kuo


6 1 introduction

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.


6 2 description of the virtual experimental system

2, p. 338

6-2 Description of the VirtualExperimental System


Block diagram

2, p. 338

Block Diagram

armature-controlled dc motor

amplifier

speed sensor

armature-controlled dc motor

amplifier

position sensor


6 3 description of simlab and virtual lab software

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.


Experiment menu and control window

3, p. 342

Experiment Menu and Control Window


Simulink model

3, p. 343

Simulink Model

  • Experiment 1:

Double-click


Simulink configuration parameters

3, p. 343

Simulink: Configuration Parameters


6 4 simulation and virtual experiments

4, p. 345

6-4 Simulation and Virtual Experiments

  • Open-loop speed

(Experiment 3)


Speed response experiment 3

4, p. 347

Speed Response (Experiment 3)


Open loop sine input experiment 4

4, p. 348

Open-Loop Sine Input (Experiment 4)


Time response experiment 4

4, p. 349

Time Response (Experiment 4)


Speed control experiment 1

4, p. 350

Speed Control (Experiment 1)

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


Speed control response experiment 1

4, p. 351

Speed Control Response (Experiment 1)


Position control experiment 2

4, p. 353

Position Control (Experiment 2)


Position response experiment 2

4, p. 353

Position Response (Experiment 2)


6 5 design project 1 robotic arm

5, p. 354

6-5 Design Project 1 – Robotic Arm


Experiment 5 simulink model

5, p. 355

Experiment 5: Simulink Model


Position response for experiment 5

5, p. 356

Position Response for Experiment 5


6 6 design project 2 quarter car model

6, p. 357

6-6 Design Project 2 –Quarter-Car Model

  • See Example 4-11-3 for detail description


Block diagram open loop system

6, p. 358

Block Diagram: open-loop system


Block diagram position control

6, p. 359

Block Diagram: position control

  • Assume the motor electric-time constant is insignificant


Simplified system of fig 6 29

6, p. 359

Simplified System of Fig. 6-29

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


Closed loop acceleration control

6, p. 360

Closed-Loop Acceleration Control


Absolute acceleration control system

6, p. 361

Absolute Acceleration Control System

(a) Block diagram

(b) Simplified block diagram


Quarter car modeling tool

6, p. 361

Quarter Car Modeling Tool


Control window

6, p. 362

Control Window


Axes controls

6, p. 364

Axes Controls

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


Passive suspension

6, p. 365

Passive Suspension


Closed loop relative position control

6, p. 366

Closed-Loop Relative Position Control


  • Login