ECE-205 Lab 3Time Domain Modeling of One Degree of Freedom SystemsYou need to- Select Cart 1- Select Load IC (initial condition) Response (the variables time and x1 or theta1 will be loaded from the workspace). At this point some initial estimates will be made.- Set/modify the Final Time- Select Plot IC Response to plot the initial condition response- Choose to identify the positive peaks (Locate + Peaks) or negative peaks (Locate - Peaks) . If the peaks are not numbered consecutively, you need to decrease the Samples Between Peaks and try again until all peaks have been identified.- Choose the initial peak (Peak x(n)) and final peak (Peak x(n+N)) to use in the log-decrement analysis. These should be fairly close to the beginning of the initial condition response. Don't try and use more than a few peaks.- Select Estimate Parameters to get the initial estimates of and- Select Make Log-Decrement Figure to get a plot and summary of the results. You need to include this figure in your memo.1 ECE-205 Lab 3 Time Domain Modeling of One Degree of Freedom Systems Overview In this lab you will be modeling two one degree of freedom (second order) systems using time-domain analysis. The goal is develop some intuition into how the parameters in a second order system affect the output by varying parameters in a model to match the step response of two second order systems. You will also use the log-decrement method to estimate these parameters. Your station has either a rectilinear (model 210) or torsional (model 205) system connected. You should make two different systems (and corresponding models) using either the model 210 or model 205. Background A one degree of freedom rectilinear mass-spring-damper system can be modeled as By drawing a free body diagram and balancing forces, we get the equation of motion: 11 11 1 2 1() () ( ) () ()mxt cxt k k xt Ft+ ++ =  A one degree of freedom rotational mass-spring-damper system can be modeled as By drawing a free body diagram and balancing torques, we get the equation of motion () () () ()J t c t k t Ttθθθ++ = 2 Despite the fact that the systems appear quite different, the governing differential equation for both of the one degree of freedom systems can be put into the standard form we have been using to model our circuits: 22() 2 () () (=K ) nn nyt yt yt xtζω ω ω++  Here Kis the static gain, nωis the natural frequency, and ζis the damping ratio. These are the parameters we need to determine for these models. You will need to set up a folder on the desktop for ECE-205, and then a folder for Lab 3. Then copy Lab3 files.rar (from the class website) into this folder and install the files. Start Matlab and change the default folder to the folder where these files are located. You will need to go through the following steps for two different configurations (different masses and/or springs or locations of masses for the torsional systems). PART I : Setting up communications In this part we get the systems ready to run and start (hopefully) communications between Simulink, the miniPMAC card, and the ECP system. Sometimes this can take a few tries, so be patient and ask for help. 1) We need to inform the ECP system that we will be using Simulink and the real-time windows target. To do this, click Start -> Programs -> ECP First select on Utility-> Download Controller Personality File. Then select C: -> Program Files -> ECP Systems -> cn (it may default to this) Finally select m210_rtwt_3.pmc for the Model 210 (or m205_rtwt_3.pmc for the Model 205) and click on open. Wait for the ECP system to load the personality file, then close the window (do not just minimize it). 2) Now we need to reset the system. You need to do this each time before you run the system. From Matlab, open the Simulink file ECPDSPReset.,mdl. It should look like the following:3 We first need to be sure the Base I/O Address is correct for your work station. Double click on the blue ECPDSP Reset box, and you will get something like the following (your base address is probably 0xD800): Be sure to save your file if you change the Base I/O Address. Now we need to compile this file. Once you have clicked on the icon (shown in the figure below), wait until Matlab indicates the file was successfully generated (it will be at the end of a lot of messages in the command window). Click here to compile the file4 Finally, we need to run this file. First connect to the system, Then click on the play button If you will do all of this correctly, nothing (obvious) will happen. In the Matlab command window it will say you have connected and disconnected to the system. However, you have reset the counters and zeroed the system. This should say External Connect to the system Click on the play button to5 PART II: Second order rectilinear system (ECP Model 210) 1) Set Up the Mechanical System. Only the first cart should move, all other carts should be fixed. You need to have at least one spring connected to the cart and at least one mass on the cart. 2) Open up the Simulink file Model210_Openloop.mdl, it should look like the following: The yellow block in the middle is what actually connects to the ECP system. Note that the output of this system is labeled x1. Do not change this! 3) Double click on the yellow block, and you will get the following: Double click on the blue ECPDSP Driver block to be sure your Base I/O Address is correct. Then save the files.6 4) Now we want to change the input to the system. Double click on the Step block, and enter an input value. Note that some of the systems have a static gain of more than 40, and they don’t like moving more than about 2 cm, so start with something small, like a final value of 0.02. Click OK and then save the file. 5) Compile the file, just as you did in PART 1, then connect to the system, and then run it. The cart should move. There are three (usual) outcomes here: a) If the cart does not move, go back though PART I. You don’t need to change the Base I/O Address or recompile, but you do need to reload the controller personality file and reset the system. b) If the cart moved, but the XY Graph does not look smooth, the communications are still not correctly set up (this is not your fault). Go back though PART I. You don’t need to change the Base I/O Address or recompile, but you do need to reload the controller personality file and reset the