EE3500/EEM507: ENGINEERING SYSTEMS LAB

Positioning Control Using a DC Motor

Figure (1) represents an open-loop position control system using a dc motor, the physical system variables and the parameters of which are identified as follows:

o : output positioning angle, uin : input voltage, ua : output voltage of linear amplifier,
ia : motor armature current, i f : motor field current (assumed to be constant), ka : gain of linear amplifier, Ra : resistance of armature winding, La : inductance of armature winding, J: inertial load, : viscous-damping coefficient, kT : torque constant, kv : back-emf constant of motor.

Figure (1)

In the following we assume that: Ra = 3 , La = 1H , = 3Nmsec , J = 0.5Kgm 2 , kT = 1Nm/A , kv = 1Vsec/rad , ka = 10 . 1. 2. 3. Derive the state space equations in terms of the following state variables: , x =i . x1 = o , x2 = o 3 a Use MATLAB to find out the eigenvalues and the right and left eigenvectors of the state matrix. Compute the state transition matrix in modal form and find the free motion for the following initial conditions (a) x(0) = [2, 0, 0]T , (b) x(0) = [2,8,8]T . Discuss the dynamic importance of your results and use MATLAB, or SIMULINK to plot the responses. Use MATLAB to derive the transfer function of the system and comment about the internal stability and BIBO stability of the system. Use MATLAB to find out whether the system is controllable and/or observable. Is this compatible to your previous results? Assume that all the states are accessible and use MATLAB to apply state feedback to yield 10% overshoot and a settling time of 1 second. Place the third eigenvalue 10 times farther from the imaginary axis than the second-order dominant pair. Is it possible to do that? Explain why and check your design by plotting the step response of your system (input/output).

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EE3500/EEM507:positioning control lab

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Dr E Milonidis

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Assume that the state variables are not accessible and design an observer to estimate the states. Is that possible? The desired transient response of the observer is a 10% overshoot and a natural frequency 10 times greater than the system response above (at step 6). As in the case of the controller (state feedback), place the third eigenvalue 10 times farther from the imaginary axis than the observers dominant second-order pair. Plot the impulse responses ) on the same graph for the both of the open loop system and the observer ( y, y (0) = [0,0, 0]T , (b) x(0) = [0.006, 0, 0]T following initial conditions: (a) x(0) = x (0) = [0, 0, 0]T . and x Incorporate the observer designed in step 7 into your open loop system and feedback the estimated states using the same feedback gains as in step 6. Plot the step response of the closed loop and comment on the results.

Parts 7 and 8 ONLY for EEM507

EE3500/EEM507:positioning control lab

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Dr E Milonidis