Spring 2014 AME 443: Control Systems Laboratory Laboratory #2: Experiments (Finally!

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Prof. Nstor O. Prez-Arancibia (January 28, 2014)

1. Identication of system parameters using free response (a) Record the response of the system to an initial displacement i. Compute the damping coecient and natural frequency n (b) Add a known mass to the system and repeat (a) (c) Using the results of (a) and (b) compute i. Spring stiness k (or kt ) ii. Damping c (or ct ) iii. Mass m of the cart (or moment of inertia I of the disk) 2. Identication of system parameters using step response (a) Record the response of the system to a step of known magnitude A i. Compute the damping coecient and natural frequency n (b) Add a known mass to the system and repeat (a) (c) Using the results of (a) and (b) compute i. ii. iii. iv. Spring stiness k (or kt ) Damping c (or ct ) Mass m of the cart (or moment of inertia I of the disk) Machine constant Khw

3. Repeat experiments 1 and 2 for dierent spring and damping coecients