laboratory guide 2 DOF Inverted Pendulum Experiment for MATLAB /Simulink Users


 Corey Craig
 2 years ago
 Views:
Transcription
1 laboratory guide 2 DOF Inverted Pendulum Experiment for MATLAB /Simulink Users Developed by: Jacob Apkarian, Ph.D., Quanser Hervé Lacheray, M.A.SC., Quanser Michel Lévis, M.A.SC., Quanser Quanser educational solutions are powered by: Captivate. Motivate. Graduate.
2 PREFACE Preparing laboratory experiments can be timeconsuming. Quanser understands time constraints of teaching and research professors. That s why Quanser s control laboratory solutions come with proven practical exercises. The courseware is designed to save you time, give students a solid understanding of various control concepts and provide maximum value for your investment. Quanser 2 DOF Inverted Pendulum courseware materials are supplied in a format of the Laboratory Guide. The Lab Guide contains lab assignments for students. This courseware material sample is prepared for users of The MathWorks s MATLAB/Simulink software in conjunction with Quanser s QUARC realtime control software. A version of the course material for National Instruments LabVIEW users is also available. The following material provides an abbreviated example of inlab procedures for the 2 DOF Inverted Pendulum experiment. Please note that the examples are not complete as they are intended to give you a brief overview of the structure and content of the courseware materials you will receive with the plant.
3 TABLE OF CONTENTS PREFACE... PAGE 1 INTRODUCTION TO QUANSER 2 DOF INVERTED PENDULUM COURSEWARE SAMPLE... PAGE 3 LABORATORY GUIDE TABLE OF CONTENTS... PAGE 3 BACKGROUND SECTION SAMPLE... PAGE 4 LAB EXPERIMENTS SECTION SAMPLE... PAGE 5
4 1. INTRODUCTION TO QUANSER 2 DOF INVERTED PENDULUM COURSEWARE SAMPLE Quanser courseware materials provide stepbystep pedagogy for a wide range of control challenges. Starting with the basic principles, students can progress to more advanced applications and cultivate a deep understanding of control theories. Quanser 2 DOF Inverted Pendulum courseware covers topics, such as: Obtain an openloop statespace representation of a 1 DOF Rotary Inverted Pendulum system Design and tune an LQRbased statefeedback controller Simulate the closedloop response of the 1 DOF Rotary Inverted Pendulum system. Implement statefeedback controller on the 2 DOF Inverted Pendulum system and evaluate its actual performance 2. LABORATORY GUIDE TABLE OF CONTENTS The full Table of Contents of the Quanser 2 DOF Inverted Pendulum Laboratory Guide is shown here: 1. INTRODUCTION 2. BACKGROUND 2.1. MODELING MODEL CONVENTION NONLINEAR EQUATIONS OF MOTION LINEARIZING LINEAR STATESPACE MODEL 2.2. CONTROL STABILITY CONTROLLABILITY LINEAR QUADRATIC REGULAR (LQR) FEEDBACK CONTROL 3. LAB EXPERIMENTS 3.1. SIMULATION PROCEDURE ANALYSIS 3.2. IMPLEMENTATION PROCEDURE ANALYSIS 4. SYSTEM REQUIREMENTS 4.1. OVERVIEW OF FILES 4.2. SETUP FOR SIMULATION 4.3. SETUP FOR RUNNING ON 2 DOF INVERTED PENDULUM REFERENCES
5 3. BACKGROUND SECTION  SAMPLE Control In Section 2.1, we found a linear statestate space model that represents a single rotary inverted pendulum system. This model is used to investigate the stability properties of the system in Section In Section 2.2.2, the notion of controllability is introduced. Using the Linear Quadratic Regular algorithm, or LQR, is a common way to find the control gain and is discussed in Section Lastly, Section describes the statefeedback control used to control the servo position while minimizing link deflection. Stability The stability of a system can be determined from its poles ([8]): Stable systems have poles only in the lefthand plane Unstable systems have at least one pole in the righthand plane and/or poles of multiplicity greater than 1 on the imaginary axis Marginally stable systems have one pole on the imaginary axis and the other poles in the lefthand plane The poles are the roots of the system's characteristic equation. From the statespace, the characteristic equation of the system can be found using (2.12) where det() is the determinant function, s is the Laplace operator, and I the identity matrix. These are the eigenvalues of the statespace matrix A. Controllability If the control input, u, of a system can take each state variable, x i where i = 1... n, from an initial state to a final state then the system is controllable, otherwise it is uncontrollable ([5]). Rank Test The system is controllable if the rank of its controllability matrix equals the number of states in the system, (2.13) (2.14) Linear Quadratic Regular (LQR) If (A,B) are controllable, then the Linear Quadratic Regular optimization method can be used to find a feedback control gain. Given the plant model in Equation 2.6, find a control input u that minimizes the cost function (2.15) where Q and R are the weighting matrices. The weighting matrices affect how LQR minimizes the function and are, essentially, tuning variables. Given the control law u = Kx, the statespace in Equation 2.3 becomes
6 4. LAB EXPERIMENTS SECTION  SAMPLE Simulation In this section we will use the Simulink diagram shown in Figure 3.1 to simulate the closedloop control of the 1 DOF Rotary Inverted Pendulum system. Recall in Section 2.1 the 2 DOF Inverted Pendulum is modeled as two independent and identical rotary pendulum systems. We will only be examining the 1 DOF portion. The Rotary Inverted Pendulum is simulated using the obtained linear statespace model. The Simulink model uses the statefeedback control described in Section The feedback gain K is found using the Matlab LQR command (LQR is described briefly in Section 2.2.3). The goal is to find a gain that will stabilize the pendulum while tracking a given servo setpoint. Figure 3.1: Simulink diagram used to simulate 1 DOF Rotary Inverted Pendulum. IMPORTANT: Before you can conduct these experiments, you need to make sure that the lab files are configured according to your setup. If they have not been configured already, then you need to go to Section 4 to configure the lab files first. Procedure Follow these steps to simulate the rotary pendulum: 1. Make sure the LQR weighting matrices in setup_2dip.m are to and 2. This automatically generates the gain
7 Remark: When tuning the LQR, Q(1; 1) effects the servo proportional gain while Q(3; 3) effects the servo derivative gain (which reduces the overshoot). Increasing Q(4; 4) attenuates the motions of the pendulum. Finally, tuning Q(5; 5; ) effects the servo integral gain. 3. To generate a Hz square wave reference, ensure the Signal Generator is set to the following: Signal type = square Amplitude = 1 Frequency = Hz 4. Set the Amplitude (deg) gain blocks to 30 to generate a step with an amplitude of 30 degrees (i.e. square wave goes between 30 which results in a step amplitude of 60). 5. Open the servo gear position scope, theta l (rad), the pendulum angle scope, alpha (deg), and the motor input voltage scope, Vm (V). 6. Start the simulation. By default, the simulation runs for 50 seconds. The scopes should be displaying responses similar to Figure 3.2. Note that in the theta l (rad) scopes, the yellow trace is the setpoint position while the purple trace is the simulated position. Figure 3.2: Simulated closedloop response.
8 Over ten rotary experiments for teaching fundamental and advanced controls concepts Rotary Servo Base Unit 2 DOF Inverted Pendulum Inverted Pendulum Flexible Link Flexible Joint Ball and Beam Double Inverted Pendulum Gyro/Stable Platform 2 DOF Robot 2 DOF Gantry MultiDOF Torsion Quanser s rotary collection allows you to create experiments of varying complexity from basic to advanced. Your lab starts with the Rotary Servo Base Unit and is designed to help engineering educators reach a new level of efficiency and effectiveness in teaching controls in virtually every engineering discipline including electrical, computer, mechanical, aerospace, civil, robotics and mechatronics. For more information please contact 2013 Quanser Inc. All rights reserved QUANSER.COM Solutions for teaching and research. Made in Canada.
INSTRUCTOR WORKBOOK Quanser Robotics Package for Education for MATLAB /Simulink Users
INSTRUCTOR WORKBOOK for MATLAB /Simulink Users Developed by: Amir Haddadi, Ph.D., Quanser Peter Martin, M.A.SC., Quanser Quanser educational solutions are powered by: CAPTIVATE. MOTIVATE. GRADUATE. PREFACE
More informationQuanser Engineering Trainer for NIELVIS. QNET Rotary Pendulum Trainer. Student Manual. QNET011 ROTPEN Trainer
QNET011 ROTPEN Trainer Quanser Engineering Trainer for NIELVIS QNET Rotary Pendulum Trainer Student Manual Under the copyright laws, this publication may not be reproduced or transmitted in any form,
More informationEDUMECH Mechatronic Instructional Systems. Ball on Beam System
EDUMECH Mechatronic Instructional Systems Ball on Beam System Product of Shandor Motion Systems Written by Robert Hirsch Ph.D. 9989 All Rights Reserved. 999 Shandor Motion Systems, Ball on Beam Instructional
More informationQNET Experiment #06: HVAC Proportional Integral (PI) Temperature Control Heating, Ventilation, and Air Conditioning Trainer (HVACT)
Quanser NIELVIS Trainer (QNET) Series: QNET Experiment #06: HVAC Proportional Integral (PI) Temperature Control Heating, Ventilation, and Air Conditioning Trainer (HVACT) Student Manual Table of Contents
More informationDCMS DC MOTOR SYSTEM User Manual
DCMS DC MOTOR SYSTEM User Manual release 1.3 March 3, 2011 Disclaimer The developers of the DC Motor System (hardware and software) have used their best efforts in the development. The developers make
More informationSystem Identification and State Feedback Controller Design of Magnetic Levitation System
International Journal of Engineering and Technical Research (IJETR) ISSN: 23210869, Volume2, Issue6, June 2014 System Identification and State Feedback Controller Design of Magnetic Levitation System
More informationTHE EDUCATIONAL IMPACT OF A GANTRY CRANE PROJECT IN AN UNDERGRADUATE CONTROLS CLASS
Proceedings of IMECE: International Mechanical Engineering Congress and Exposition Nov. 722, 2002, New Orleans, LA. THE EDUCATIONAL IMPACT OF A GANTRY CRANE PROJECT IN AN UNDERGRADUATE CONTROLS CLASS
More informationLinear Control Systems Lecture #3  State Feedback. Guillaume Drion Academic year
Linear Control Systems Lecture #3  State Feedback Guillaume Drion Academic year 20152016 1 Control principle We want to design a controller such that the output of the closedloop system tracks a specific
More informationControl Systems Design
ELEC4410 Control Systems Design Lecture 20: Scaling and MIMO State Feedback Design Julio H. Braslavsky julio@ee.newcastle.edu.au School of Electrical Engineering and Computer Science Lecture 20: MIMO State
More informationDESIGN, BUILD AND CONTROL OF A SINGLE ROTATIONAL INVERTED PENDULUM
University of Tehran School of Electrical and Computer Engineering Final Project of Mechatronics DESIGN, BUILD AND CONTROL OF A SINGLE ROTATIONAL INVERTED PENDULUM M. Amin Sharifi K. Supervisors: Dr. Rajaei
More informationLaboratory 4: Feedback and Compensation
Laboratory 4: Feedback and Compensation To be performed during Week 9 (Oct. 2024) and Week 10 (Oct. 2731) Due Week 11 (Nov. 37) 1 PreLab This PreLab should be completed before attending your regular
More informationME 433 STATE SPACE CONTROL. State Space Control
ME 433 STATE SPACE CONTROL Lecture 1 1 State Space Control Time/Place: Room 290, STEPS Building M/W 12:452:00 PM Instructor: Eugenio Schuster, Office: Room 454, Packard Lab, Phone: 6107585253 Email:
More informationECE 516: System Control Engineering
ECE 516: System Control Engineering This course focuses on the analysis and design of systems control. This course will introduce timedomain systems dynamic control fundamentals and their design issues
More informationPOTENTIAL OF STATEFEEDBACK CONTROL FOR MACHINE TOOLS DRIVES
POTENTIAL OF STATEFEEDBACK CONTROL FOR MACHINE TOOLS DRIVES L. Novotny 1, P. Strakos 1, J. Vesely 1, A. Dietmair 2 1 Research Center of Manufacturing Technology, CTU in Prague, Czech Republic 2 SW, Universität
More informationEE 402 RECITATION #13 REPORT
MIDDLE EAST TECHNICAL UNIVERSITY EE 402 RECITATION #13 REPORT LEADLAG COMPENSATOR DESIGN F. Kağan İPEK Utku KIRAN Ç. Berkan Şahin 5/16/2013 Contents INTRODUCTION... 3 MODELLING... 3 OBTAINING PTF of OPEN
More informationdspace DSP DS1104 based State Observer Design for Position Control of DC Servo Motor
dspace DSP DS1104 based State Observer Design for Position Control of DC Servo Motor Jaswandi Sawant, Divyesh Ginoya Department of Instrumentation and control, College of Engineering, Pune. ABSTRACT This
More informationControl System Design. Richard Tymerski and Frank Rytkonen
Control System Design Richard Tymerski and Frank Rytkonen ii Preface This is the preface. iii iv Contents I Classical Control 1 1 Compensators for the Buck Converter 3 1.1 Introduction..............................
More informationMaglev Controller Design
Maglev Controller Design By: Joseph Elliott Nathan Maher Nathan Mullins For: Dr. Paul Ro MAE 435 Principles of Automatic Controls Due: May 1, 2009 NJN Control Technologies 5906 Wolf Dale Ct. Suite 1 Raleigh,
More informationECE 495 Project 3: Shocker Actuator Subsystem and Website Design. Group 1: One Awesome Engineering
ECE 495 Project 3: Shocker Actuator Subsystem and Website Design Group 1: One Awesome Engineering Luquita Edwards Evan Whetsell Sunny Verma Thomas Ryan Willis Long I. Executive Summary The main goal behind
More informationControl Systems Design
ELEC4410 Control Systems Design Lecture 17: State Feedback Julio H Braslavsky julio@eenewcastleeduau School of Electrical Engineering and Computer Science Lecture 17: State Feedback p1/23 Outline Overview
More informationECE 3510 Final given: Spring 11
ECE 50 Final given: Spring This part of the exam is Closed book, Closed notes, No Calculator.. ( pts) For each of the timedomain signals shown, draw the poles of the signal's Laplace transform on the
More informationMatlab and Simulink. Matlab and Simulink for Control
Matlab and Simulink for Control Automatica I (Laboratorio) 1/78 Matlab and Simulink CACSD 2/78 Matlab and Simulink for Control Matlab introduction Simulink introduction Control Issues Recall Matlab design
More informationSIMULATION OF WALKING HUMANOID ROBOT BASED ON MATLAB/SIMMECHANICS. Sébastien Corner
SIMULATION OF WALKING HUMANOID ROBOT BASED ON MATLAB/SIMMECHANICS Sébastien Corner scorner@vt.edu The Robotics & Mechanisms Laboratory, RoMeLa Department of Mechanical Engineering of the University of
More informationMiniLab Projects in the Undergraduate Classical Controls Course
MiniLab Projects in the Undergraduate Classical Controls Course Jeffrey S. Dalton, Daniel S. Stutts, and Robert L. Montgomery University of MissouriRolla Rolla, MO 65409 Abstract: To address a common
More informationMATLAB Control System Toolbox Root Locus Design GUI
MATLAB Control System Toolbox Root Locus Design GUI MATLAB Control System Toolbox contains two Root Locus design GUI, sisotool and rltool. These are two interactive design tools for the analysis and design
More informationNAVAL POSTGRADUATE SCHOOL THESIS
NAVAL POSTGRADUATE SCHOOL MONTEREY, CALIFORNIA THESIS STATESPACE MODELING, SYSTEM IDENTIFICATION AND CONTROL OF A 4th ORDER ROTATIONAL MECHANICAL SYSTEM by Jeremiah P. Anderson December 29 Thesis Advisor:
More informationModule 2 Introduction to SIMULINK
Module 2 Introduction to SIMULINK Although the standard MATLAB package is useful for linear systems analysis, SIMULINK is far more useful for control system simulation. SIMULINK enables the rapid construction
More informationDESIGN OF VIRTUAL MODELS OF MECHATRONICS SYSTEMS WITH SIMULINK 3D ANIMATION TOOLBOX
DESIGN OF VIRTUAL MODELS OF MECHATRONICS SYSTEMS WITH SIMULINK 3D ANIMATION TOOLBOX Matej Oravec, Anna Jadlovská Department of Cybernetics and Artificial Intelligence, Faculty of Electrical Engeneering
More informationExample: A StateSpace Controller for DC Motor Position Control
Example: A StateSpace Controller for DC Motor Position Control The electric circuit of the armature and the free body diagram of the rotor are shown in the following figure: For this example, we will
More informationInverted Pendulum Experiment
Introduction Inverted Pendulum Experiment This lab experiment consists of two experimental procedures, each with sub parts. Experiment 1 is used to determine the system parameters needed to implement a
More informationMatlab Tutorial : Root Locus. ECE 3510 Heather Malko
Matlab Tutorial : Root Locus ECE 3510 Heather Malko Table of Context 1.0 Introduction 2.0 Root Locus Design 3.0 SISO Root Locus 4.0 GUI for Controls 1.0 Introduction A root loci plot is simply a plot of
More informationProceeding of 5th International Mechanical Engineering Forum 2012 June 20th 2012 June 22nd 2012, Prague, Czech Republic
Modeling of the Two Dimensional Inverted Pendulum in MATLAB/Simulink M. Arda, H. Kuşçu Department of Mechanical Engineering, Faculty of Engineering and Architecture, Trakya University, Edirne, Turkey.
More informationAC 20124561: MATHEMATICAL MODELING AND SIMULATION US ING LABVIEW AND LABVIEW MATHSCRIPT
AC 20124561: MATHEMATICAL MODELING AND SIMULATION US ING LABVIEW AND LABVIEW MATHSCRIPT Dr. Nikunja Swain, South Carolina State University Nikunja Swain is a professor in the College of Science, Mathematics,
More informationControl Systems 2. Lecture 7: System theory: controllability, observability, stability, poles and zeros. Roy Smith
Control Systems 2 Lecture 7: System theory: controllability, observability, stability, poles and zeros Roy Smith 216412 7.1 Statespace representations Idea: Transfer function is a ratio of polynomials
More informationModeling and Simulation of a Three Degree of Freedom Longitudinal Aero plane System. Figure 1: Boeing 777 and example of a two engine business jet
Modeling and Simulation of a Three Degree of Freedom Longitudinal Aero plane System Figure 1: Boeing 777 and example of a two engine business jet Nonlinear dynamic equations of motion for the longitudinal
More information19 LINEAR QUADRATIC REGULATOR
19 LINEAR QUADRATIC REGULATOR 19.1 Introduction The simple form of loopshaping in scalar systems does not extend directly to multivariable (MIMO) plants, which are characterized by transfer matrices instead
More informationNoise Canceling Headphones Shizhang Wu Supervisor: Ed Richter, Arye Nehorai, Walter Chen
Noise Canceling Headphones Shizhang Wu Supervisor: Ed Richter, Arye Nehorai, Walter Chen Department of Electrical and Systems Engineering Washington University in St. Louis Fall 2008 Abstract In this undergraduate
More informationServo Motors (SensorDAQ only) Evaluation copy. Vernier Digital Control Unit (DCU) LabQuest or LabPro power supply
Servo Motors (SensorDAQ only) Project 7 Servos are small, relatively inexpensive motors known for their ability to provide a large torque or turning force. They draw current proportional to the mechanical
More informationLoop Analysis. Chapter 7. 7.1 Introduction
Chapter 7 Loop Analysis Quotation Authors, citation. This chapter describes how stability and robustness can be determined by investigating how sinusoidal signals propagate around the feedback loop. The
More informationMECE 102 Mechatronics Engineering Orientation
MECE 102 Mechatronics Engineering Orientation Mechatronic System Components Associate Prof. Dr. of Mechatronics Engineering Çankaya University Compulsory Course in Mechatronics Engineering Credits (2/0/2)
More informationAn Introduction to Using Simulink. Exercises
An Introduction to Using Simulink Exercises Eric Peasley, Department of Engineering Science, University of Oxford version 4.1, 2013 PART 1 Exercise 1 (Cannon Ball) This exercise is designed to introduce
More informationStabilizing a Gimbal Platform using SelfTuning Fuzzy PID Controller
Stabilizing a Gimbal Platform using SelfTuning Fuzzy PID Controller Nourallah Ghaeminezhad Collage Of Automation Engineering Nuaa Nanjing China Wang Daobo Collage Of Automation Engineering Nuaa Nanjing
More informationY(s) U(s) The continuous process transfer function is denoted by G: (Eq.4.40)
The Process PID control tuner provides the open and closed loop process system responses for a continuous process model (G) with a continuous PID controller (Gc). The Process model can be characterized
More informationCurrent Loop Tuning Procedure. Servo Drive Current Loop Tuning Procedure (intended for Analog input PWM output servo drives) General Procedure AN015
Servo Drive Current Loop Tuning Procedure (intended for Analog input PWM output servo drives) The standard tuning values used in ADVANCED Motion Controls drives are conservative and work well in over 90%
More informationELECTRICAL ENGINEERING
EE ELECTRICAL ENGINEERING See beginning of Section H for abbreviations, course numbers and coding. The * denotes labs which are held on alternate weeks. A minimum grade of C is required for all prerequisite
More informationCONTROL SYSTEMS, ROBOTICS, AND AUTOMATION Vol. III Design of State Space Controllers (Pole Placement) for SISO Systems  Lohmann, Boris
DESIGN OF STATE SPACE CONTROLLERS (POLE PLACEMENT) FOR SISO SYSTEMS Lohmann, Boris Institut für Automatisierungstechnik, Universität Bremen, Germany Keywords: State space controller, state feedback, output
More informationDesignSimulationOptimization Package for a Generic 6DOF Manipulator with a Spherical Wrist
DesignSimulationOptimization Package for a Generic 6DOF Manipulator with a Spherical Wrist MHER GRIGORIAN, TAREK SOBH Department of Computer Science and Engineering, U. of Bridgeport, USA ABSTRACT Robot
More informationBEST Robotic, Inc. MATLAB/Simulink Team Training Programming With MATLAB/Simulink
BEST Robotic, Inc. MATLAB/Simulink Team Training Programming With MATLAB/Simulink September 20, 2014 BISON BEST 1 What You ll Need Minimum System Requirements Microsoft Windows XP or Later 32bit or 64bit
More informationApplying Classical Control Theory to an Airplane Flap Model on Real Physical Hardware
Applying Classical Control Theory to an Airplane Flap Model on Real Physical Hardware Edgar Collado Alvarez, BSIE, EIT, Janice Valentin, Jonathan Holguino ME.ME in Design and Controls Polytechnic University
More informationResearch Methodology Part III: Thesis Proposal. Dr. Tarek A. Tutunji Mechatronics Engineering Department Philadelphia University  Jordan
Research Methodology Part III: Thesis Proposal Dr. Tarek A. Tutunji Mechatronics Engineering Department Philadelphia University  Jordan Outline Thesis Phases Thesis Proposal Sections Thesis Flow Chart
More informationROTARY SERVO CONTROL LAB FOR NI LABVIEW
ROTARY SERVO CONTROL LAB FOR NI LABVIEW A Modular Lab for Teaching of Controls, Robotics and Mechatronics The Quanser Rotary Servo Control Lab for NI LabVIEW TM offers you remarkable engineering educational
More informationR f. V i. ET 438a Automatic Control Systems Technology Laboratory 4 Practical Differentiator Response
ET 438a Automatic Control Systems Technology Laboratory 4 Practical Differentiator Response Objective: Design a practical differentiator circuit using common OP AMP circuits. Test the frequency response
More informationLecture L19  Vibration, Normal Modes, Natural Frequencies, Instability
S. Widnall 16.07 Dynamics Fall 2009 Version 1.0 Lecture L19  Vibration, Normal Modes, Natural Frequencies, Instability Vibration, Instability An important class of problems in dynamics concerns the free
More informationFigure 1. The Ball and Beam System.
BALL AND BEAM : Basics Peter Wellstead: control systems principles.co.uk ABSTRACT: This is one of a series of white papers on systems modelling, analysis and control, prepared by Control Systems Principles.co.uk
More informationRealTime Systems Versus CyberPhysical Systems: Where is the Difference?
RealTime Systems Versus CyberPhysical Systems: Where is the Difference? Samarjit Chakraborty www.rcs.ei.tum.de TU Munich, Germany Joint work with Dip Goswami*, Reinhard Schneider #, Alejandro Masrur
More informationSimulation of Offshore Structures in Virtual Ocean Basin (VOB)
Simulation of Offshore Structures in Virtual Ocean Basin (VOB) Dr. Wei Bai 29/06/2015 Department of Civil & Environmental Engineering National University of Singapore Outline Methodology Generation of
More informationMagnetic Levitation Control Experiments S Technology Training for tomorrow s world
Interactive Discovery Software Electricity & Electronics Control & Instrumentation Process Control Mechatronics Magnetic Levitation 33942S Telecommunications Electrical Power & Machines Test & Measurement
More informationEstimating Dynamics for (DCmotor)+(1st Link) of the Furuta Pendulum
Estimating Dynamics for (DCmotor)+(1st Link) of the Furuta Pendulum 1 Anton and Pedro Abstract Here the steps done for identification of dynamics for (DCmotor)+(1st Link) of the Furuta Pendulum are described.
More informationMotor Modeling and Position Control Lab Week 3: Closed Loop Control
Motor Modeling and Position Control Lab Week 3: Closed Loop Control 1. Review In the first week of motor modeling lab, a mathematical model of a DC motor from first principles was derived to obtain a first
More informationPositive Feedback and Oscillators
Physics 3330 Experiment #6 Fall 1999 Positive Feedback and Oscillators Purpose In this experiment we will study how spontaneous oscillations may be caused by positive feedback. You will construct an active
More informationManufacturing Equipment Modeling
QUESTION 1 For a linear axis actuated by an electric motor complete the following: a. Derive a differential equation for the linear axis velocity assuming viscous friction acts on the DC motor shaft, leadscrew,
More informationSolving Differential Equations Using MATLAB/Simulink
Session Number Solving Differential Equations Using MATLAB/Simulink Frank W. Pietryga, P.E. University of Pittsburgh at Johnstown Abstract During the sophomore year, the mechanical and civil engineering
More informationPolePlacement Design A StateSpace Approach
TU Berlin DiscreteTime Control Systems 1 PolePlacement Design A StateSpace Approach Overview ControlSystem Design Regulation by State Feedback Observers Output Feedback The Servo Problem TU Berlin
More informationStabilization of an inverted pendulum using control moment gyros
Graduate Theses and Dissertations Graduate College 213 Stabilization of an inverted pendulum using control moment gyros Chris Joel Walck Iowa State University Follow this and additional works at: http://lib.dr.iastate.edu/etd
More informationControl & Instrumentation
& Instrumentation Analogue & Digital Servo Trainer Modular Servo System Transducers kit Programmable logic control applications Dual Conveyor PLC Workcell Elevator Digital Pendulum control system Magnetic
More informationECE382/ME482 Fall 2008 Homework 5 Solution November 18,
ECE382/ME482 Fall 28 Homework 5 Solution November 18, 28 1 Solution to HW5 Note: You were permitted to generate these plots using Matlab. However, you must be prepared to draw the plots by hand on the
More informationMACCCS Center Review Presentation. Xinyan Deng BioRobotics Laboratory School of Mechanical Engineering Purdue University
MACCCS Center Review Presentation Xinyan Deng BioRobotics Laboratory School of Mechanical Engineering Purdue University Lab Experimental Facilities Tow tank PIV systems Wind tunnel Lab Related Work Aerodynamics
More informationImplementation of A Novel SwitchMode DCToAC Inverter with Non Linear Robust Control Using MATLAB
Implementation of A Novel SwitchMode DCToAC Inverter with Non Linear Robust Control Using MATLAB Mr. Damodhar Reddy Asst.Prof K. PavanKumar Goud Asst.Prof K. Pradeep Kumar Reddy Asst.Prof Department
More informationSimple Harmonic Motion Concepts
Simple Harmonic Motion Concepts INTRODUCTION Have you ever wondered why a grandfather clock keeps accurate time? The motion of the pendulum is a particular kind of repetitive or periodic motion called
More informationModelBased Design of a New Lightweight Aircraft
ModelBased Design of a New Lightweight Aircraft Arkadiy Turevskiy 1, Stacey Gage 2, and Craig Buhr 3 The MathWorks, Inc. Natick, MA, 01760 This paper uses a combination of free and commercial offtheshelf
More informationStateSpace Feedback Control for Elastic Distributed Storage in a Cloud Environment
StateSpace Feedback Control for Elastic Distributed Storage in a Cloud Environment M. Amir Moulavi Ahmad AlShishtawy Vladimir Vlassov KTH Royal Institute of Technology, Stockholm, Sweden ICAS 2012, March
More informationA Design of a PID SelfTuning Controller Using LabVIEW
Journal of Software Engineering and Applications, 2011, 4, 161171 doi:10.4236/jsea.2011.43018 Published Online March 2011 (http://www.scirp.org/journal/jsea) 161 A Design of a PID SelfTuning Controller
More informationSystem Modeling and Control for Mechanical Engineers
Session 1655 System Modeling and Control for Mechanical Engineers Hugh Jack, Associate Professor Padnos School of Engineering Grand Valley State University Grand Rapids, MI email: jackh@gvsu.edu Abstract
More informationExperiment 6: Level Control of a Coupled Water Tank
Experiment 6: Level Control of a Coupled Water Tank Concepts emphasized: Dynamic modeling, timedomain analysis, and proportionalplusintegral control. 1. Introduction Industrial applications of liquid
More informationUNIVERSITY OF NORTH CAROLINA AT CHARLOTTE. Department of Electrical and Computer Engineering
UNIVERSITY OF NORTH CAROLINA AT CHARLOTTE Department of Electrical and Computer Engineering Experiment No. 5  GainBandwidth Product and Slew Rate Overview: In this laboratory the student will explore
More informationThe Realtime Network Control of the Inverted Pendulum System Based on Siemens Hardware**
AUTOMATYKA/ AUTOMATICS 2013 Vol. 17 No. 1 http://dx.doi.org/10.7494/automat.2013.17.1.83 Andrzej Turnau*, Dawid Knapik*, Dariusz Marchewka*, Maciej Rosó³*, Krzysztof Ko³ek*, Przemys³aw Gorczyca* The Realtime
More informationAssignment 1: System Modeling
Assignment 1: System Modeling Problem 1. (10 pts.) Consider a biological control system consisting of a human reaching for an object. Below is a list of general block diagram elements (on the left, labeled
More informationDigiflex Digital Servo Drive Startup Guide DR100 and DQ111 Series DriveSuite Software
Digiflex Digital Servo Drive Startup Guide DR100 and DQ111 Series DriveSuite Software Contents Foreword... 3 Connect to a Drive... 4 Enter Motor Data... 9 Set Current, Voltage, Velocity, Position, and
More informationROBOTIC systems will play an important role in reducing
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, VOL. 48, NO. 4, AUGUST 1999 807 VisionBased Sensing and Control for Space Robotics Applications Michael E. Stieber, Member, IEEE, Michael McKay, George
More informationEE289 Lab Fall 2009. LAB 4. Ambient Noise Reduction. 1 Introduction. 2 Simulation in Matlab Simulink
EE289 Lab Fall 2009 LAB 4. Ambient Noise Reduction 1 Introduction Noise canceling devices reduce unwanted ambient noise (acoustic noise) by means of active noise control. Among these devices are noisecanceling
More informationVFD 101 Lesson 4. Application Terminology for a VFD
VFD 101 Lesson 4 Application Terminology for a VFD This lesson covers the application terminology associated with a Variable Frequency Drive (VFD) and describes each term in detail. When applying a Variable
More informationPower Electronics. Prof. K. Gopakumar. Centre for Electronics Design and Technology. Indian Institute of Science, Bangalore.
Power Electronics Prof. K. Gopakumar Centre for Electronics Design and Technology Indian Institute of Science, Bangalore Lecture  1 Electric Drive Today, we will start with the topic on industrial drive
More informationLab 0b: Introduction to Simulink
http://www.comm.utoronto.ca/~dkundur/course/realtimedigitalsignalprocessing/ Page 1 of 1 Lab 0b: Introduction to Simulink Professor Deepa Kundur Introduction and Background This lab introduces you
More informationTEACHING AUTOMATIC CONTROL IN NONSPECIALIST ENGINEERING SCHOOLS
TEACHING AUTOMATIC CONTROL IN NONSPECIALIST ENGINEERING SCHOOLS J.A.Somolinos 1, R. Morales 2, T.Leo 1, D.Díaz 1 and M.C. Rodríguez 1 1 E.T.S. Ingenieros Navales. Universidad Politécnica de Madrid. Arco
More informationE x p e r i m e n t 5 DC Motor Speed Control
E x p e r i m e n t 5 DC Motor Speed Control IT IS PREFERED that students ANSWER THE QUESTION/S BEFORE DOING THE LAB BECAUSE THAT provides THE BACKGROUND information needed for THIS LAB. (0% of the grade
More informationMagnetic Levitation Experiment
Magnetic Levitation Experiment Magnetic Levitation Experiment Quanser Consulting Inc. 1 Description The maglev experiment consists of an electromagnet encased in a rectangular enclosure. One electromagnet
More informationABSTRACT. Keyword double rotary inverted pendulum, fuzzy logic controller, nonlinear system, LQR, MATLAB software 1 PREFACE
DESIGN OF FUZZY LOGIC CONTROLLER FOR DOUBLE ROTARY INVERTED PENDULUM Dyah Arini, Dr.Ing. Ir. Yul Y. Nazaruddin, M.Sc.DIC, Dr. Ir. M. Rohmanuddin, MT. Physics Engineering Department Institut Teknologi
More informationController and Platform Design for a Three Degree of Freedom Ship Motion Simulator
33 Controller and Platform Design for a Three Degree of Freedom Ship Motion Simulator David B. Bateman, Igor A. Zamlinsky, and Bob Sturges Abstract With the use of towtank experiments, data may be generated
More informationENGR 210 Lab 11 Frequency Response of Passive RC Filters
ENGR 210 Lab 11 Response of Passive RC Filters The objective of this lab is to introduce you to the frequencydependent nature of the impedance of a capacitor and the impact of that frequency dependence
More informationEigenvalues and Eigenvectors
Chapter 6 Eigenvalues and Eigenvectors 6. Introduction to Eigenvalues Linear equations Ax D b come from steady state problems. Eigenvalues have their greatest importance in dynamic problems. The solution
More informationThe purposes of this experiment are to test Faraday's Law qualitatively and to test Lenz's Law.
260 171 I. THEORY EXPERIMENT 17 QUALITATIVE STUDY OF INDUCED EMF Along the extended central axis of a bar magnet, the magnetic field vector B r, on the side nearer the North pole, points away from this
More informationMODERN CONTROL ENGINEERING
Crease Crease Spine ABOUT THE AUTHOR Dr. K P Mohandas is currently Professor in Electrical Engineering and Dean (Post Graduate Studies and Research) in National Institute of Technology (formerly Regional
More information4 Experimental study of the drill string torsional vibrations
4 Experimental study of the drill string torsional vibrations 4.1 Introduction An experimental apparatus of the drilling system is not easy to develop. Some papers illustrate test rigs with viscous and
More informationEchtzeittesten mit MathWorks leicht gemacht Simulink RealTime Tobias Kuschmider Applikationsingenieur
Echtzeittesten mit MathWorks leicht gemacht Simulink RealTime Tobias Kuschmider Applikationsingenieur 2015 The MathWorks, Inc. 1 ModelBased Design Continuous Verification and Validation Requirements
More informationTeaching System Modeling and Feedback Control Systems: A Multidisciplinary Course in Mechanical Engineering and Electrical Engineering
Paper ID #5976 Teaching System Modeling and Feedback Control Systems: A Multidisciplinary Course in Mechanical Engineering and Electrical Engineering Prof. Li Tan, Purdue University, North Central DR.
More informationECE382/ME482 Spring 2005 Homework 3 Solution March 7,
ECE382/ME482 Spring 2005 Homework 3 Solution March 7, 2005 Solution to HW3 AP4.5 We are given a block diagram in Figure AP4.5 on page 237 of the text and asked to find steady state errors due to (a) a
More informationAR9161 B.Tech. VI Sem. Chemical Engineering Process Dynamics &Control Model Answer
AR9161 B.Tech. VI Sem. Chemical Engineering Process Dynamics &Control Model Answer Ans (1) Section A i. (A) ii. iii. iv. (B) (B) (B) v. (D) vi. vii. viii. ix. (C) (B) (B) (C) x. (A) Section B (1) (i)
More informationControl System Definition
Control System Definition A control system consist of subsytems and processes (or plants) assembled for the purpose of controlling the outputs of the process. For example, a furnace produces heat as a
More informationGalileo s Pendulum: An exercise in gravitation and simple harmonic motion
Galileo s Pendulum: An exercise in gravitation and simple harmonic motion Zosia A. C. Krusberg Yerkes Winter Institute December 2007 Abstract In this lab, you will investigate the mathematical relationships
More informationA Combined Vibrations and Controls Course for Mechanical Engineering
Session 1166 A Combined Vibrations and Controls Course for Mechanical Engineering Joel Lenoir Western Kentucky University Abstract A combined mechanical vibrations and controls course has been developed
More information