Position control in matlap

Project: Consider the position control problem of a DC motor using PID control. The system can be represented using the following block diagram: + и у K(s) G(s) where r is the reference position signal, e is the error signal, u is the control effort signal and y is the measured position signal. The transfer function G(s) is the DC motor plant given as follows: y(s) (s) к G(s) u(s) (s) s [mLas? + (b La +R2Jm)s +(K_Ke +bR)] sec where o(s) is the DC-motor's shaft angle and V(s)is the input voltage to the motor's circuit. The system parameters are given by Jm = 1.13 x 10-2 N. m. sece, b = 0.028 N.m. La 10-1H, Ra = 0.45 12, K+ = 0.067 N., K = 0.067 v. Sec rad amp rad The controller K(s) is a continuous PID controller with a low-pass filter. The controller is given as follows: u(s) kas? + kps + ki = K(s) = e(s) s(ts + 1) where ka = 0.466, kp = 0.379, ki = 0.0457 and 1 = 1. 2 Requirements: a) Discretize the controller K(s) for an arbitrary sample time T using the Forward rectangular rule. b) Compare between controllers discretized using the forward rectangular rule and the zero- order hold (ZOH) for different sample times (T = 0.05, 0.5 and 2.5 seconds). Comment on the results. (Hint: you may use software to help you in the ZOH discretization) (Hint: use pole-zero maps and bode plots) c) For a sample time of (T = 0.2 seconds), design a controller for the DC motor using direct digital control design. (Hint: you may use SISOTOOL to help you in the design) d) Simulate the DC motor's response for a step reference of magnitude pi/4 using the ZOH controller with a T = 0.05 seconds as designed in b) e) Derive the difference equation for the controller used in part d). 1) Write C-code for ATmega328P to implement the controller in part e). Make sure that your code satisfies the following points: 1. The code should measure the current position of the motor. 2. The code should keep the sampling time fixed as required by the controller using an interrupt service routine (ISR). g) Implement your code practically and plot your experimental results for the motor position as a function of time. (You may need to adjust your controller gains according to the DC motor you are using). Note that: You should show all your steps clearly, submit all the codes used and the results.

Навички: Електротехніка, Електроніка, Техніка, Схемотехніка, Мікроконтролер

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( 0 відгуки(-ів) ) Dubai, United Arab Emirates

ID Проекту: #25633599

7 фрілансерів(-и) у середньому готові виконати цю роботу за $106


Hi. I am a mathematician and specialize in computer vision. So I am very interested in your project and think that I can solve it with my own ability. I have implemented many algorithms using the matlab simulation tool Більше

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I can help you to simulate DC machine in MATLAB. Please share further details through chat.

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Hi there, I am currently doing Phd in control systems and automation and my research is on flight control of UAV drones. I have expertise in both discrete time and continuous time control designs I have read the job d Більше

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Hello, Hope this message finds you well, I checked your details and I believe that my experience is what you are looking 4. I have been working on similar projects for the past eight years, and I have the essential sk Більше

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Respected Employer! Pleased to see the job posting I have reviewed the details that you provided and have also worked on similar kind of projects. I have a good experience and skills in the Engineering Electronics Micr Більше

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I would love to complete your Matlab Project. I am a electrical engineer with more than 5 years eperience. I have done many proects. Waiting for your response for further discussion

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Hello, I'm a PhD candidate in Electrical Engineering (control systems). I'm expert in MATLAB programming and by strong mathematical and statistical background, have good flexibility for solve your project. Evidence of Більше

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