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Chapter 6 The Control Lab

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  1. Chapter 6The Control Lab Automatic Control Systems, 9th Edition F. Golnaraghi & B. C. Kuo

  2. 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.

  3. 2, p. 338 6-2 Description of the Virtual Experimental System

  4. 2, p. 338 Block Diagram armature-controlled dc motor amplifier speed sensor armature-controlled dc motor amplifier position sensor

  5. 3, p. 340 6-3 Description of SIMLab and Virtual Lab Software 1. Navigate to the appropriate directory in the MATLAB command window. 2. Type acsys at the command prompt.


  6. 3, p. 342 Experiment Menu and Control Window

  7. 3, p. 343 Simulink Model • Experiment 1: Double-click

  8. 3, p. 343 Simulink: Configuration Parameters

  9. 4, p. 345 6-4 Simulation and Virtual Experiments • Open-loop speed (Experiment 3)

  10. 4, p. 347 Speed Response (Experiment 3)

  11. 4, p. 348 Open-Loop Sine Input (Experiment 4)

  12. 4, p. 349 Time Response (Experiment 4)

  13. 4, p. 350 Speed Control (Experiment 1) Closed-loop speed controlspeed sensor: Kt = 1 V/rad/sec

  14. 4, p. 351 Speed Control Response (Experiment 1)

  15. 4, p. 353 Position Control (Experiment 2)

  16. 4, p. 353 Position Response (Experiment 2)

  17. 5, p. 354 6-5 Design Project 1 – Robotic Arm

  18. 5, p. 355 Experiment 5: Simulink Model

  19. 5, p. 356 Position Response for Experiment 5

  20. 6, p. 357 6-6 Design Project 2 – Quarter-Car Model • See Example 4-11-3 for detail description

  21. 6, p. 358 Block Diagram: open-loop system

  22. 6, p. 359 Block Diagram: position control • Assume the motor electric-time constant is insignificant

  23. 6, p. 359 Simplified System of Fig. 6-29 • Set the command voltage Vin(s) = 0 V E(s) = 0 –KsZ(s)

  24. 6, p. 360 Closed-Loop Acceleration Control

  25. 6, p. 361 Absolute Acceleration Control System (a) Block diagram (b) Simplified block diagram

  26. 6, p. 361 Quarter Car Modeling Tool

  27. 6, p. 362 Control Window

  28. 6, p. 364 Axes Controls Transfer function popup menu GC, GP, GH, GA in Fig. 6-37

  29. 6, p. 365 Passive Suspension

  30. 6, p. 366 Closed-Loop Relative Position Control