8.0.

RESULTS AND CALCULATION

8.1:

Calculation of Plant Parameters (f,

(a) Plant parameters (f,

disk

, d, and n)

, dd31, and nd31) of loaded masses in the third (upper)

d31

(Encoder #3)

From graph; N = 13 cycles

t = 7.68s 0.26s = 7.42s
X0 =388
Xn = 60

f=

Cycles
time

d31

13
7.42

= 1.752 Hz

1
X0
ln ( Xn ) = 2 (13)

1
2 N

388
ln ( 60 ) = 0.023

dd31 = 2f = 2(1.752) = 11.008 rad/s

dd 31
1 2

nd31 =

11.008
= 10.0232

(b) Plant parameters (f,

= 11.011

, dd32, and nd32) of unloaded masses in the third (upper)

d32

disk (Encoder #3)

From graph; N = 47 cycles
t = 7.85s 0.28s = 7.57s
X0 =250
Xn = 30

f=

Cycles
time

d32

1
2 N

47
7.57

=6.209 Hz

1
X0
ln ( Xn ) = 2 (47)

dd32 = 2f = 2(6.209) =39.012 rad/s

nd32 =

dd 32
1 2

39.012
10.0072

250
ln ( 30 ) =0.007

= 39.013 rad/s

 (c) Plant parameters (f,

, dd11, and nd11) of loaded masses in the first (lower)

d11

disk (Encoder #1)

From graph; N = 14 cycles
t = 6.25s 0.2s = 6.05s
X0 =265
Xn = 5

f=

Cycles
time

d11

14
6.05

= 2.314 Hz

1
X0
ln ( Xn ) = 2 (14)

1
2 N

265
ln ( 5 ) = 0.045

dd11 = 2f = 2(2.314) = 14.539 rad/s

nd11 =

dd 11
1 2

14.539
= 10.0452

(d) Plant parameters (f,

= 14.554 rad/s

, dd12, and nd12) of unloaded masses in the third (upper)

d12

disk (Encoder #1)

From graph; N = 9 cycles
t = 1.2s 0.04s = 1.16s
X0 =240
Xn = 2

f=

Cycles
time

d12=

1
2 N

9
1.16

= 7.759 Hz

1
X0
ln ( Xn ) = 2 (9)

dd12= 2f = 2(7.759) = 48.751 rad/s

240
ln ( 2 ) = 0.085

8.2:

nd12=

dd 31
1 2

48.751
10.0852

= 48.928 rad/s

Calculation of plant parameters (unloaded disk inertia, J, spring constant, k, for

torsional shaft and damping coefficient, c)

(a) Plant parameter (Jd3 k d3 and cd3) of third upper disk

Moment of Inertia, Jm =

kd 3
2
Jm+ Jd 3 =(nd31)

1 2
mr =
2

= (11.011)2 ( 8.5050 x 10

1
(0.525 X 4 )(0.09)2 = 8.5050 x 103 kgm2
2

+Jd3)

Kd3 = 1.031+121.242Jd3-------------------------------------------- (i)

kd 3
Jd 3

= (nd32)2

= (39.013)2(Jd3)
Kd3 = 1522.014 Jd3

------------------------------------------- (ii)

Solve equation (i) and (ii)

1.031 + 121.242 Jd3 = 1522.014 Jd3
1.031
Jd3 = 1400.772
Jd3 =7.36 X 10-4 kgm2
Substitute the value of Jd3 = 7.36 X 10-4kgm2 in equation (ii)
Kd3 = 1522.014 Jd3
= 1522.014 (7.36 X 10-4)
= 1.1202Nm

s2 +
2

nd32 s + n2 = s2 +

d32

Cd 3
2d3

s+

K
J

Cd 3
Jd 3

nd32 =

d32

Cd 3
[2(0.007)(39.013)] = 7.36 X 104
Cd3 = 4.02X10-4 kgm2/s

(b) Plant parameter (Jd1 k d1 and cd1) of first lower disk

Moment of Inertia, Jm =

1 2
mr =
2

1
2
(0.525 X 4 )(0.09)
2
3

= 8.5050 x 10

kgm2

kd 1
2
Jm+ Jd 1 = (nd11)
3
= (14.554)2 ( 8.5050 x 10 + Jd1)

Kd1 = 1.802+ 211.819 Jd1 -------------------------------------------- (i)

kd 1
Jd 1

= (nd12)2

= (48.928)2(Jd1)
Kd1 = 2393.949Jd1

------------------------------------------- (ii)

Solve equation (i) and (ii)

1.802 + 211.819 Jd1= 2393.949 Jd3
1.802
Jd1 = 2182.13

Jd1=8.258 X 10-4 kgm2

Substitute the value of Jd1 = 8.258 X 10-4 kgm2 in equation (ii)
Kd1 = 2393.949 Jd3
= 2393.949 (8.258 X 10-4)
= 1.977 Nm

s2 +
2

nd12 s + n2 = s2 +

d12

nd12 =

d12

Cd 1
2d1

s+

K
J

Cd 1
Jd 1

[2(0.085)(48.928)] =

Cd 1
8.258 X 104

Cd1 = 6.867X10-3 kgm2/s

8.3:

Calculation of hardware gain

(a)

Find the acceleration, (counts/s2)

For positive acceleration, ie =

v
t

32000
0.5

= 64000 counts/s2

For negative acceleration, ie =

v
t

24500+ 14000
11.5

= 77000 counts/s2

Average of both acceleration, (ie)/2 =

Total
2

141000
2

= 705000 counts/s2

Find the hardware gain k h w

(b)

using the specified values for k c

Applied torque = J1 ie/ k e

3
J1 = Jm + Jd1 = 8.505 x 10 + 8.258 X 10-4 = 9.331X10-3 kgm2

ke =

16000
2

= 2546.48 pulse/rad

( 9.331 X 103 ) (70500)

= 0.258Nm
(2546.48)

Applied Torque ,T=

1.00v k a k t k p = applied torque

k a k t k p =0.258Nm/v

Software gain , k h w =

10
32768

= 6.416Nm/v

9.0

DISCUSSION

x 0.258 x 2546.48 x 32

and k v

(b)

Report the measured properties and derived parameter values : Jm, Jd1, Jd2,
Jd3, Cd1, Cd2, Cd3, kd1,kd3, and khw.

Jm =

1
2
mv =
2

1
2
(0.525 X 4 )(0.09) = 8.505 x 103 kgm2
2

3
J1 = Jm + Jd1 = 8.505 x 10 + 8.258 X 10-4 = 9.331X10-3 kgm2

3
J3 = Jm + Jd3 = 8.505 x 10 + 7.36 X 10-4 = 9.241X10-3 kgm2

nd12 =

d12

Cd 1
J1

[2(0.085)(48.928)] =

Cd 1
3
9.331 X 10

Cd1 = 0.078 kgm2/s

nd32 =

d32

Cd 3
J3

[2(0.007)(39.013)] =

Cd 3
3
9.241 X 10

Cd1 = 5.047X10-3 kgm2/s

k1
j1

= (nd12)2

k1 = (48.928)2(9.331X10-3) = 22.34 Nm

k3
j3

= (nd32)2

K3 = (39.013)2(9.241X10-3) = 14.065 Nm

(c)

Construct a denominator-monic plant model suitable for control design for the case of
two 500g weights on the upper most & lower disks with each mass centered at 9.0 cm
from the shaft center-line see Figure 4b. Use the results of this section and equations
(4.4 through 4.5) to generate these transfer functions where the hardware gain
multiplies the numerator for each transfer function.
1(S)
T (S)

The transfer function of the system is :

4
3
Where D(s) = J1J3 s + c1J3+c2J1 s

c1(k1+k3)+c3k1 s+
k1k3
5
4
D(s) = ( 8.623 x 10 ) s

J d 3 s 3+ C 3 s + K 1 + K 3
D( S)

2
+ J1(k1+k3)+J3k1+c1c3 s

6.721 x 105 ) s 3

0.603 ) s 2

0.301s + 450.732
1(S)
T (S)

4.02 x 10
( 8.623 x 105 ) s 4 +6.721 x 105
(4)s +22.34+14.065 3
(9.241 x 103 s 3+
s + 0.47) s2 +0.256 s+314.212

2 ( S )
T (S)
K1
22.34
=
D(S) ( 8.623 x 105 ) s4 + ( 6.721 x 105 ) s 3+ ( 0.47 ) s 2+ 0.256 s+ 314.212

(d)

What are the unit of k h w ?

10.0

khw = kc ka kt k p ks

amp
v

Nm
v

Nm
amp

Nm
Nm

CONCLUSION

This experiment was a success as the objectives that were set have been all effectively
achieved. Through the graph obtained and through the calc that was done, it is obvious that
with even a slight increment on the applied load, the parameters increase as well even though
not much. There were few additional oscillations created as can be seen from the graph
obtained and the time required in completion of the last oscillation is also longer when the
load is being increased.

This experiment was indeed very useful for engineering students like us. This kind of
comparison is actually been one of the good source for us to understand more about the
importance of the applied mass for the stability of the system. Since the Plant parameters
such as f,

, dd31, and nd31, is also important in determining the stability of the system,

d31

it is also vital for us to understand how exactly the increment of mass could affect to the
system.

In nutshell, this experiment was a great alternative way for us to understand what has
been thought in class better in many ways. It actually gave us a clearer view on how actually
the mass influence the rotational mechanical system in overall.

Experiment is nothing perfect without errors. We did face certain problems while conducting
this experiment which we think might be the contributors in inaccuracy of the data/ parameter
obtained.

Problems faced/Errors
I.

Add the additional load to the system.

We decided to stick the additional mass , 25g on top of each 200g of the mass with the
tape and we sure that the tape itself had it own mass that might gave an additional

II.

mass to the system. This indirectly contributes to the inaccuracy in the data obtained.
Human error
The placement of the masses were not exactly 0.9cm from the shaft centerline as per

III.

required. This might lead to the instability of the system indirectly.

Equipment error
It was noticeable that there were vibrations to the disks when it starts to rotate.
Vibrations as we know, gives a huge impact to the actual result.

Recommendations for improvements

I.

Place the additional masses onto the existing masses in a proper way. We might
find a solution to this by use a single mass that weighs exactly 225g each instead

II.

of 3 separate masses that weighs 225g in total.

The placement of the masses exactly 0.9cm from the shaft centerline could be
done by re measuring process. We could manually measure the distance using

III.

measuring tools to make sure the accuracy of the distance.

Errors caused by the equipments cant be avoided usually. The equipment can be
calibrated to reduce the causing errors.