Ask Question, Ask an Expert

+1-415-315-9853

info@mywordsolution.com

Ask Electrical & Electronics Expert

Assignment: Phase Lead Controller Design & Digital Implementation

The arm of a hydraulic robot is controlled as shown in the block diagram below:

197_phase lead controller.jpg

The arm dynamics are represented by:

G(s) = 270/[s(s + 5)(s + 20)(s + 45)]

Dynamic specification for the arm requires:

1) Percentage overshoot for a step input < 20%
2) Rise time < 1.2 seconds
3) Velocity constant, Kv ≥ 10

Part 1: Phase Lead Controller Design

1) Design a suitable phase-lead controller. You should describe in detail how your design has been developed.  Your solution should include Bode plots constructed both manually and using an appropriate package such as MATLAB or Scilab.

2) Using the design rules in the Control Engineering Data Sheets, obtain the TF of the “equivalent” 2nd order TF (including controller).

3) Compare the unit step responses of the equivalent 2nd order TF and the actual closed loop system, and comment on the accuracy of the equivalent.

Part 2: Digital Controller Implementation

1) Using the phase lead controller transfer function obtained above as a prototype, design a digital controller using the Bilinear Transform or any other method of your choice.

2) Select a suitable sampling increment, T, given the following constraints:

a) the minimum value for T is, T= 1mS
b) the value of T should be as large as possible, but must provide a unit step response that is within a 5% error band around the unit step response obtained from the ‘ideal’ closed loop system designed in Part 1.

3) Compare the performance of the digital controlled system with the analogue controlled system obtained in Part 1 (this should include consideration of both time domain and frequency domain responses).

Electrical & Electronics, Engineering

  • Category:- Electrical & Electronics
  • Reference No.:- M9689
  • Price:- $60

Guranteed 36 Hours Delivery, In Price:- $60

Have any Question? 


Related Questions in Electrical & Electronics

1 a rectangular block of concrete 3 ft times 3ft times 6 in

1. A rectangular block of concrete 3 ft × 3ft × 6 in. has its 6- in. side half buried at the bottom of a lake 23 ft deep. What force is required to lift the block free of the bottom? What force is required to maintain th ...

For each of the following baseband signals i mt cos 1000t

For each of the following baseband signals (i) m(t) = cos 1000t, (ii) m(t) = 2cos 1000t + cos 2000t, and (iii) m(t) = cos 1000t cos 3000t: a. Sketch the spectrum of m(t). b. Sketch the spectrum of the DSB-SC signal m(t) ...

For the following truth tablea give the dnf equation for

For the following truth table: a. Give the DNF equation for the table. b. Minimize the equation using a K-map. c. Show that the DNF is equivalent to the minimum representation using Boolean algebra.

Using the data of problem determine the velocity head of

Using the data of Problem, determine the velocity head of the fluid leaving the impeller. What pressure rise would result from such a velocity head? Problem :- Sea water, ρ = 64 lbm/ft3 , flows through the impeller of a ...

Audio amplifier multistageaudio amplifier power output

Audio Amplifier (Multistage) Audio Amplifier Power Output selection: 3.2 W, 5.6 W, 7.1 W, 8.4 W, 11.5 W, and 16.3 W Audio Amplifier Input Voltage (peak) selection: 150mVpeak, 200mVpeak, 250mVpeak Audio Frequency: 20 Hz - ...

1 state faradays law in differential form for the general

1. State Faraday's law in differential form for the general case of an arbitrary electric field. How is it derived from its integral form? 2. What is meant by the net right-lateral differential of the x- and y-components ...

Using the frequency sampling method design a linear phase

Using the frequency sampling method, design a linear phase bandstop FIR filter with cutoff frequencies Ω c1 = π/3, Ω c2 = π/2, and L h = 13. Realize the design as a frequency sampling filter.

The potential distribution in a simplified model of a

The potential distribution in a simplified model of a vacuum diode consisting of cathode in the plane x = 0 and anode in the plane x = d and held at a potential V 0 relative to the cathode is given by (a) Find the space ...

Determine the head loss between stations 1 and 2 in

Determine the head loss between stations (1) and (2) in Problem. Problem:- Oil (sp. gr. = 0.8) flows smoothly through the circular reducing section shown at 3 ft 3  /s. If the entering and leaving velocity profiles are u ...

In the first approach to streaming stored audiovideo figure

In the first approach to streaming stored audio/video (Figure 28.24), assume that we need to listen to a compressed song of 4 megabytes (a typical situation). If our connection to the Internet is via a 56-kbps modem, how ...

  • 4,153,160 Questions Asked
  • 13,132 Experts
  • 2,558,936 Questions Answered

Ask Experts for help!!

Looking for Assignment Help?

Start excelling in your Courses, Get help with Assignment

Write us your full requirement for evaluation and you will receive response within 20 minutes turnaround time.

Ask Now Help with Problems, Get a Best Answer

WalMart Identification of theory and critical discussion

Drawing on the prescribed text and/or relevant academic literature, produce a paper which discusses the nature of group

Section onea in an atwood machine suppose two objects of

SECTION ONE (a) In an Atwood Machine, suppose two objects of unequal mass are hung vertically over a frictionless

Part 1you work in hr for a company that operates a factory

Part 1: You work in HR for a company that operates a factory manufacturing fiberglass. There are several hundred empl

Details on advanced accounting paperthis paper is intended

DETAILS ON ADVANCED ACCOUNTING PAPER This paper is intended for students to apply the theoretical knowledge around ac

Create a provider database and related reports and queries

Create a provider database and related reports and queries to capture contact information for potential PC component pro