State-space control
SYSTEMS MODELLING ASSIGNMENT PART 2 1. INTRODUCTION 1.] Background This assignment follows on from assignment 1. which you completed in Block 1. As before, it relates to the DC Motor Control Trainer (DCMCT), which will be used for practical application of the techniques we have Ieamed in Block 3. It is going to be controlled by computer as a l-Iardwarc-in-thc-Loop simulation. 1.2 Objective The objectives of this lab are to: Develop and validate a DC motor model through first principles modelling and experimental tests Design and implement a controller to achieve desired performance specifications. The coursework is split into three parts: a system modelling assignment, a controller design assignment, and a lab report detailing the practical experimentation. This assignment covers the controller design part of the coursework. The objective is to design a controller for the system. 1.3 DC Motor Modelling In Assignment 12, a model 01. the hardware was produced. In addition to this hardware, there are some components and calibration factors which were not modelled. The overall system is described by the transfer function: (0(5) _ 193 2 l1) r(s) 0.015 + 8s +193 2. PIKE-LABORATORY COURSEWORK ASSIGNMENT 2: CONTROLLER DESIGN Write a short document which addresses the following points. a) Express the model in equation (I) in state space format [Hints this was covered in Block I. and in Nise Chapter 3.5]. Determine the poles of the open loop system. Compare your answer to the poles you found in Assignment 12, and comment on the dynamics of the system. b) Design a state feedback controller for the system, so that the closed loop model responds to a step input with no more than 5% overshoot and a settling time of 0.25s. c) What are the states in physical terms (Le. displacement, voltage)? Are they the same states used in the model you developed in Assignment 1? llow would you obtain the other states?
:
