ENME_585_Lab_03_B06_Allen_Okanovic_Ayman_Malkawi

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School

University of the Fraser Valley *

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Course

585

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Mechanical Engineering

Date

Dec 6, 2023

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pdf

Pages

7

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ENME 585 Fall 2022 Lab 03 – DC Motor Position Control Lab Submission Form Page 1 of 7 YOUR GROUP INFORMATION Lab section : Date: B06 October 27, 2023 Laptop # : Hardware # : 7 02 First Name 1: Allen Last Name 1: Okanovic First Name 2: Ayman Last Name 2: Malkawi First Name 3: Type here. Last Name 3: Type here. YOUR FEEDBACK A. How would you rate the difficulty of this lab? Medium B. Were there any aspects of this lab that you struggled with or found confusing? If so, which? Type here. C. How long did it take you/your group to do the lab, including finishing this submission form? 2.5 hours D. Suggest improvements, if any. Type here.
Page 2 of 7 QUESTIONS: Proportional (P) Control (12/32 marks) Q1. Insert the figures of the physical and simulated step response plots for 𝑘 = 0.5 and 𝑘 = 3 . Answer the following questions in the space provided: Describe how the step response changes as 𝑘 is increased. Specifically, does it become faster or slower, and what is the effect on overshoot and oscillations? Does this agree with your answer to prelab Question 4? Is there steady state error in the physical system? Does this agree with the simulated step response and with theory (i.e., prelab Question 3)? What could be the source of this error in the physical system? Gains Physical Step Response Simulated Step Response 𝑘 = 0.5 𝑘 = 3 - As kp is increased, the step response becomes faster since the initial slope is increasing. The percent overshoot also increases and the number of oscillations increase. - This does agree with our answers from question 4 in the prelab. In the prelab, we both mentioned that as kp increases, the system response will be go faster as the initial slope will increase and the same effect is observed in the lab. - There is almost no steady state error in the physical which matches well with the simulated step response for both kp = 0.5 and kp = 3. The small variations can be due to friction in the motor.
Page 3 of 7 Q2. When turning the disc away from its set point under P control, does the stiffness increase in proportion to 𝑘 ? - As kp is increased, the stiffness is increased. Q3. Insert the figures of the physical and simulated ramp response plots for 𝑘 = 0.5 and 𝑘 = 3 . Answer the following questions in the space provided: Is the steady-state error still zero? If not, how does it depend on 𝑘 ? Does this match your prediction in prelab Question 3? Gains Physical Ramp Response Simulated Ramp Response 𝑘 = 0.5 𝑘 = 3 - The steady state error is not zero. - Yes the steady state error does depend on kp. As observed, the steady state error decreases as kp is increased. - Yes it does match with our prediction in prelab question 3.
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