Tasks: Answer questions 1 ~ 4 and write your answer in your Assignment answer:
Question 1: Determine the desired damping ratio and natural frequency based on the specifications assigned to you
Question 2: Determine the compensator parameters in s-domain
The motor control system in the s-domain is shown in Figure 2-2.
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pen loop transfer function: _________________________________
Let
Tm
zero =1/ , zero = .
Closed loop transfer function: __________________________
Closed loop characteristic equation: ____________________________
Compare Eq2 with Eq1 to determine the required compensator parameters:
pole= ____________
kC = _____________
The required compensator transfer function is:
Question 4: Simulate your final system and print out the results
Comment on the simulation result on how the compensator has improved the
system’s response.
Followings are required for submission of this part A:
• Your answer for Question 1 to 3
• Final system block diagram (use the Simulink block diagram)
• Simulation result (overview) from Simulink, which shows the transition part of the signal till its beginning of steady state and not longer than that. Indicate (use cursor in simulink) the steady state value, steady state error.
• Enlarged simulation curve clearly shown the overshoot and settling time (use the Simulink cursor to do all this)
• Complete m-file listing of your program in this Question 4.
• All submission must be in pdf file format, other format (JPEG, Word, etc) will not be marked and you will be given zero mark.
