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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

Chapter 6The Control Lab

Automatic Control Systems, 9th Edition

F. Golnaraghi & B. C. Kuo

6 1 introduction
1, p. 3376-1 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.
block diagram
2, p. 338Block 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. 3406-3 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.

simulink model
3, p. 343Simulink Model
  • Experiment 1:

Double-click

speed control experiment 1
4, p. 350Speed Control (Experiment 1)

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

6 6 design project 2 quarter car model
6, p. 3576-6 Design Project 2 – Quarter-Car Model
  • See Example 4-11-3 for detail description
block diagram position control
6, p. 359Block Diagram: position control
  • Assume the motor electric-time constant is insignificant
simplified system of fig 6 29
6, p. 359Simplified System of Fig. 6-29
  • Set the command voltage Vin(s) = 0 V E(s) = 0 –KsZ(s)
absolute acceleration control system
6, p. 361Absolute Acceleration Control System

(a) Block diagram

(b) Simplified block diagram

axes controls
6, p. 364Axes Controls

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

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