Problem 2 Dc Motor Dynamics Full State Feedback Controller And The Use Of Matlab Editor 40p The Free Body Diagram 1 (34.96 KiB) Viewed 42 times
Problem 2. DC motor dynamics, full state-feedback controller and the use of MATLAB editor (40p). The free- body diagram of the rotor of a DC motor is shown in Figure 2. Write the DC motor dynamics that describe the system mechanic and electric equations. (a) Obtain a complete state-space model of the DC motor dynamics. Here, the input to the system is V₁,1 the output to the system is position, and the state vector must be x DC motor parameters: J = 3.2284E-6; Bd = 3.5077E- 6; x=ė Km = 0.0274; Ra = 4; La = 2.75E-6; (b) Using the diagram in Figure 3, obtain the state and output equations of the motor dynamics and state feedback control.
(c) Use the block diagram given in Figure 3 with the DC motor dynamics, and write a program for the MATLAB editor to follow next steps: • Check controllability by obtaining the controllability matrix and its determinant, explain the results. • Design a full state-feedback regulator whose poles consist of two dominant complex poles and a real pole at [-11+11i], [-11-11i] and -40. Determine the controller's gains, K. (Paste the Matlab program that you use to solve each step and the results) FIXED FIELD Va R₂ +MW Va K Emi Bd OHDI TO Figure 2 Figure 3
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