Rose-Hulman ECE 320 - State Variable Control Systems (2 pages)

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State Variable Control Systems



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State Variable Control Systems

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Pages:
2
School:
Rose-Hulman Institute of Technology
Course:
Ece 320 - Linear Control Systems
Linear Control Systems Documents

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ECE 320 Lab 9 State Variable Control Systems Overview In this lab you will be controlling your two one degree of freedom systems you previously modeled using state controllers You will need your model files for each system Basic 1dof State Variable Model mdl and Basic 1dof State Variable Model Driver m for this lab Design Specifications For each of your systems you should try and adjust your parameters until you have achieved the following Torsional Systems Model 205 Settling time less than 0 5 seconds Steady state error less than 2 degrees for a 15 degree step and less than 1 degree for a 10 degree step the input to the Model 205 must be in radians Percent Overshoot less than 10 Rectilinear Systems Model 210 Settling time less than 0 5 seconds Steady state error less than 0 1 cm for a 1 cm step and less than 0 05 cm for a 0 5 cm step Percent Overshoot less than 10 Your memo should include plots of the response of the real system and of the model for each of your 1 dof systems Specifically you need to plot the position of both the real system and the position of the model on one graph and the velocity of both the real system and the velocity of the model on one graph Use subplot to put them both on the same page and be sure to use a legend command and different line styles so I can tell them apart Don t depend on colors unless you print them on a color printer You should have plots for for pole placement and for the LQR design for each of your systems Be sure to include the values of the closed loop poles and the gains for the LQR algorithm in the caption for each figure Your memo should compare the difference between the predicted response from the model and the real response from the real system for each of the systems For each of your two 1 dof systems you will need to go through the following steps Step 1 Set up the 1 dof system exactly the way it was when you determined its model parameters Step 2 Modify Basic 1dof State Variable Model Driver m to read in the



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