- Un Pulse Generator Disturbance R S 1 S 40 1 1 755 Sum S 400 4835 28 Electrical I Sum 1 Gain 0 06852 Ball Bearing 1 (93.34 KiB) Viewed 41 times
- Un Pulse Generator Disturbance R S 1 S 40 1 1 755 Sum S 400 4835 28 Electrical I Sum 1 Gain 0 06852 Ball Bearing 2 (165.8 KiB) Viewed 41 times
un Pulse Generator (Disturbance) R(s) 1 + + S+40 1 1.755 Sum S+400 4835+28 Electrical I+ Sum 1 Gain 0.06852 Ball Bearing (mass) Controller Gain Feedback Transfer Function Output C(s) Feedback Gain 95 Sensor Gain 1.14e3 Figure 3. The system of Figure 2 with feedback control
с (10 points) Modify the Simulink model to look like Figure 3 below. A controller is implemented in Figure 3, which hopefully will stabilize the system. You will need to replace the value of k in the block "controller gain” with an actual value. Rerun the simulation of Figure 3 with various integer values of k, and see whether c tends to move away from zero as time increases. For those values of k where c returns towards zero, we can say that the controller has stabilized the system. Find the range of integer values of k which, in fact, stabilize the system. Stable, as defined for this problem, implies that the ball's position tends towards a certain fixed finite position without going towards too as time goes towards co. (10 points) Find the transfer function of the new Simulink model in Figure 3 below, using the average value of k you found from part 3 above (round it to the nearest integer). Put your answer in the form of (s+a)(s+b), etc., where a and b are constants (potentially complex). Scan your handwritten work and include it in your lab report. By looking at the roots in the denominator, briefly explain (2-3 sentences) why (in the time domain) the system is now "controlled" when k is properly selected. (If necessary, use the “roots” function in Matlab).