De Montfort University 2/24/2015 |

ContentsPage

Introduction………………………………………………………………………………….3 Parameters of the open loop 1DoF torsional system…………………….4 Position Proportional Control plotting data………………………………….6 Parameters of transient responses and their affect by gain Kp……..11 Position Proportional control with velocity feedback plotting data.15 Parameter of transient responses and their affect by gain Kd……….20 Speed Proportional feedback control……………………………………………23 The response of closed loop system

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The hardware gain on the experiment was Khw=14.928.

The plot with Open loop Step response of the system is shown below:

The angular velocity profile is provided on the plot and includes two intervals with increase and decrease of angular velocity.

Assuming that both intervals of velocity profile are close to linear dependence, the accelerationand deceleration are considered as constants and they can be obtained by measuring the velocity difference divided by the time interval:

and are depicted on the plot as 1307deg, 2.01s and 4.064s respectively. The applied Torque to the disk can be calculated from the input Voltage of the system which is 0.25V.

According to Newton’s second Law of dynamics for acceleration and deceleration, the moment of inertia of the disk with attached two masses, can be derived as:

The time constant τ of the system was determined by drawing a tangent line to the deceleration transient process of the angular velocity at the peak point as τ=3.533s. Therefore, the viscous damping coefficient was also obtained by the equation:

The viscous damping coefficient and the Moment of Inertia were used for all experimental study as the system remained the same.

Position Proportional Control plotting data

The second experimental study of the Laboratory was the position proportional control of a closed loop system. The aim of this experimental study