MCEN90017AdvancedMotionControl

Lab1bReport
PrithuParker390045
JhonPortella680794
RicardoGarciaRosas643952

INTRODUCTION
The goal of Lab 1b was to implement and compare a number of controllers ona2 DOFplanarroboticsystem, drivenby
Quanserequipment, suchthat a position input command(for the endeffector)is accurately tracked.Todo this, weused a
fewsoftwareandhardwarecomponents,including:
MATLABPerformingcalculationsforplantmodelling
Quanser2DOFplanarrobotThesystembeingcontrolled
LabViewParsinginputandoutputsignalsintoablockdiagram,usedfordevelopingandimplementingcontrollers

Thecontrollerstestedwere:
AsimplePIDcontroller
AnmPIDcontroller
ASlidingModecontroller(SMC)

SYSTEMIDENTIFICATION
The system isan XYtablecontrolled by 2 independentmotors withdifferentparameters. Inorder to get a propermodel of
each motor, weuseda chirp signal thatvaries from 1Hzuntil 10Hzin15secondsand anamplitudeof1Ampere. Thiswith
thepurposeofgettingthecharacteristicsofeachhalfofthesysteminawiderangeoffrequencies.

Using the information collected from the chirp function experiment, we decidedtoestimatethesystemusing least square
estimationobtainingtheparametersforeachmotorbasedonthelinearequation:
(1) M q + Cq
= U
Where q was the angular acceleration, q the angular velocity,andU the input torque.Because the measured input data
fromthe experiment was electriccurrent (Amperes), itwas transformed using aconstantmultiplicationby50x23.4x0.001
togettheinputUinN.m.Then,equation1wasdiscretizedusingthezTransform:
Y (s) 1
G(S) = U(s) = s(Ms+c)
G(z) = (1 Z )xZtrans( G(s)
1
s )
1 2
axZ +bxZ
(2) G(z) = 1cxZ
1
+dxZ2

Wherea,b,c,anddinequation2arefunctionsofCandM.Solvingtheleastsquareforbothhalvesofthesystemgives:
1 2
0.0542xZ 0.0277xZ
M otor1(q1) : G(z) = 11.9246xZ
1
+0.9246xZ2
1 2
0.0490xZ 0.0251xZ
M otor2(q2) : G(z) = 11.9842xZ
1
+0.9842xZ2
Andfinally,bysolvingforCandM,theparametersforeachmotorwerefoundtobe:
q1 : M = 360g.cm2&C = 1.41x103m/s2
q2 : M = 399g.cm2&C = 2.85x104m/s2

In the information provided by the Maxon motor Datasheet, the rotorinertia (M)wasapproximately11.7 g.cm2 .Takingin
consideration, for the analysed system, the inertia of the arms of the mechanism, friction, and other nonlinearities, both
values for C and M were found to bereasonable
results.Moreover, the simulation ofthesystems presented similarlinear
dynamicsastherealoneundertheinfluenceofachirpfunctioninput.