11.0.1 Lab 9 - Feedforward Velocity Control11.0.1.1 - Purpose11.0.1.2 - Background11.0.1.3 - Theory11.0.1.4 - Prelab11.0.1.5 - Equipment11.0.1.6 - Experimentalegr345 lab guide - 11.111.0.1 Lab 9 - Feedforward Velocity Control 11.0.1.1 - PurposeTo develop a feedforward controller for velocity control, and use simulation to ver-ify the program.11.0.1.2 - BackgroundIn the previous laboratory a controlller was developed in C, but simulated in Mat-lab. This leaves room for subtle differences between the simulator and control programs, such as integer number limits, that lead to inaccurate simulations. This week we will develop a system entirely in C that allows part of the pro-gram to be switched on/off for the simulation or actual control.11.0.1.3 - TheoryFeedforward controlleregr345 lab guide - 11.2Figure 11.1 C program for control and simulationegr345 lab guide - 11.311.0.1.4 - Prelab1. Using the program given in the theory section, write a program to implement a- make sure the program collect data and print it out later.11.0.1.5 - Equipmentcomputer with a gcc6811 compilerAxiom M68HC11 board2 motors (one is to be used as a tachometer)1 multimeter1 TIP120 Darlington coupled transistorexternal power supply11.0.1.6 - Experimental1. Build the controller and test the C program. Remember to verify the polarity of the tachometer before connecting it to the 68HC11.2. Measure all relevant motor parameters and update them in the program.3. With a known set of gains, provide a step input to the system and collect the time response data. Repeat this for different step and gain values.4. Compare the theoretical and actual
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