1. Introduction: This is a guideline outlining the details, rules and general requirements for the control theory course project. The goal of the projects is to give you examples of how to implement control systemmethodsandtechniquesdevelopedduringthecourse.YouareencouragedtouseMatlab to develop model or figures or any other parts of the project. However, you can also prepare everything by hand. Use of Matlab/Simulink is not necessary. Only hardcopy submission isacceptable
2. Suggested steps to complete theproject:
There are many ways to solve each one of the suggested problems. Each one of the projects will consist of the following majorsteps:
1. Dynamic modeling (showing full steps of finding governingequations)
2. Development of transfer functions and block diagram (development of transfer function relating input to output for the open loopsystem)
3. Developmentofblockdiagramshowingthedynamicsoftheclosedloopsystemand thecontroller.
4. Selection of controller structure. All groups will first implement a Proportional control law. If the group is not satisfied with the P-control, the group may move to an alternativestructure.
5. Selection of controlparameter(s)
6. Characterization of performance of closed-loopsystem
7. System type, Root locus for a proportional controller, Bode phase plots and discussions, transientcharacteristics.
8. Conclusion on the system and controllercharacteristics/performance
Position Servo System
An armature controlled DC motor with transmission and inertial load represents a large class of servo systems found in industry. Such systems are used to for positioning valves, in assembly equipment in manufacturing systems etc. A schematic of this system is given below, with all the relevant parameters defined.
SIL
Parameters:
La = 0.05 Henry armature inductance
Ra = 0.5 armature resistance
N = 10 transmission ratio
Ja, = 0.1 N-m-sec2 armature polar moment of inertia
Ba= 0.05 N-m-sec armature damping coefficient
JL= 3.0 N-m-sec2 load polar moment of inertia
BL= 0.05 N-m-sec2 load damping coefficient
Ke= 0.1 volt-sec back e.m.f. constant
Kt= 0.5 N-m/amp motor torque constant