- A 3 B 5 C 2 1 (18.02 KiB) Viewed 44 times
- A 3 B 5 C 2 2 (244.52 KiB) Viewed 44 times
= = = 1. Build MATLAB code to find single closed loop system for position control system of an armature DC Motor (Equation 5) with the following parameters: Voltage Constant (Ke) = 0.07 (V.s/rad) Torque Constant (KT) = 0.07 (N.m/A) Motor Max Speed (Wm) = 600 (rad/s) Armature Current (ia) = 2.1 (A) Armature Resistance (Ra) = 1.3 (Ohm) Armature Inductance (La) = 0.015 (H) Motor Inertia (m) = 6.5x104 (N.m.s?/rad) Viscos Friction (Bm) = 1.2x10-4 (N.m.s/rad) . = a. Use pid (Kp, Ki ,Kd) to construct the parallel PID controller and feedback (G*C, H) to construct the CL transfer function directly. b. Vary the value of Kp, Kį, and K, as the following and complete the table: OV tr. ts Kd 0.1 + C/10 0.1 + C/10 0.1 + C/10 of Kp Case Kp Ki Case 1: 8 + A/10 1 + B/10 Variation 10 + A/10 1 + B/10 12 + A/10 1 + B/10 conclusion Case 2: 10 + A/10 0.8+ B/10 Variation 10 + A/10 1 + B/10 of K 10 + A/10 | 1.2 + B/10 conclusion Case 3: 10 + A/10 1 + B/10 Variation | 10 + A/10 1 + B/10 of Kd 10 + A/10 1 + B/10 conclusion 0.1 + C/10 0.1 + C/10 0.1 + C/10 0.05 + C/10 0.1 + C/10 0.15 + C/10 2. Build MATLAB code to find cascade closed loop system for position control system of an armature DC Motor. Use parallel PID controller and find the Kp, Ki and Kd value until it gets stable.