Lab 3 Grading,
Prelab, 45 points
a.) Draw the integrator block diagram
-Block Diagram for the motor torque 2
-Block Diagram for the tape dynamics 2
b.) Finding the transfer functions
-ang_vel(s)/ang_vel_ref(s) 3
(hint, the leading 's' term in the denominator must have a
coefficient of 1. Multiply the transfer function as needed.)
-ang_vel(s)/disturbance_torque(s) 3
c.) Give the range of K which gives a stable system 3
d.) What K gives a steady state response less than 0.01 rad/s
(hint: use the Final Value Theorem -- FVT) 3
e.) What should Kr be interms of K 3
f.) Using K
-the new zeta value 1
-the new omega_n value 1
-the new Mp value 1
-the new tr value 1
-the new ts value 1
g.) Controller 2
-What K value is needed 2
-What is omega_steady-state 2
-Can we achieve both goals 2
-What Mp do we achieve 2
h.) Controller 3
-New Transfer Functions 4
-What K range is stable 1
-What Kd range (in terms of K) is stable 1
i.) Controller 3
-K value 2
-Kd value 2
-the new Mp value 1
-the new tr value 1
-the new ts value 1
Lab 3
Part 1: 15 pts
2 plots,
- disturbance response for 3 controllers 3
- omega_ref response for 3 controllers 3
- M_p, t_r, t_s for three controllers
prelab and lab values 6
- Compare/contrast Mp, tr, and ts from
Prelab with those from Lab. Which
controllers met the specifications? 3
Part 2: Deriving ess components, 12 pts
-ess due to c1(t) 3
-discussion on values of omega_n that
minimize c1(t) error 3
-ess due to c2(t) 3
-discussion on values of omega_n that
minimize c2(t) error 3
Part 3: controller 3, 18 pts
- equation for omega_n 3
- equation for zeta 3
- Discussion of effects on zeta and
omega from increasing K 3
- Discussion of effects on zeta and
omega from increasing K_d 3
- Derive pole equation in terms of omega
and zeta in simplest form 3
- Discuss effect on poles of increasing
K_d, when K_d > 0 3
Report: 45
Prelab: 45
Checkout: 10
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total: 100 pts