[PDF] Top 20 ECE-521 Lab 3: Modeling, Simulation, and Control of a 3 Degree of Freedom System

... b) Utilize the linear quadratic regulator algorithm to determine the gains so the second cart tracks a 1 cm input with a settling time of less than 0.4 seconds. You will have to simulate your model a number of times to ... See full document

... f) Utilize the linear quadratic regulator algorithm to achieve the same performance (at least in terms of settling time) as the direct pole placement as part c) You will have to simulate your model a number of times to ... See full document

... The 3 degree of freedom robot manipulator in this project is RRR robot arm, which has 3 revolute joints. So basically, the mathematical models are kinematic model, inverse kinematic model of ... See full document

... each system you will first fit the parameters of a transfer function model of your system using time-domain analysis and frequency domain ...this lab are very commonly used in system ... See full document

... determine the feedback gain values (I used pole values of -5 -7 -9 -11, so you might want to try with these.) You also need to be sure the control effort is less then 0.4 and the cart does not move more than about ... See full document

... You should start with the lower step amplitudes, and work your way up to the higher step amplitudes. Not all systems or controllers will work for a 15 degree step. Your real systems may oscillate a bit. If this ... See full document

... this lab you will be modeling two one degree of freedom systems using time-domain analysis and frequency domain ...this lab are very commonly used in system identification ... See full document

... Your memo should include at least two graphs for each of the 1 dof systems you used for the model matching control. The values of ω o used in the controller must be in the figure captions or as part of the graph ... See full document

... ECP system and the results from the simulation on the same ...the simulation and one from the ECP system), and two different ...ECP system did not run long ... See full document

... ECP system, but do not start the ...the system moves rapidly when started you need to let go of the pendulum and stop the ...the system does not move much (you'll know this), gently let go of the ... See full document

... and control a regular ...the system with zero input, and all initial conditions set to zero except for the initial pendulum ...the control effort is less then ... See full document

... this lab you will be modeling two one degree of freedom (second order) systems using time-domain ...order system affect the output by varying parameters in a model to match the step ... See full document

... your system will probably not reach the correct steady state value, but try to get as close to the set point as you can while still meeting the settling time and percent overshoot ... See full document

... This part of the lab should be done independently of Part 2. That is, do not just use the values for the natural frequency ω n and damping ratio ζ y ou obtained from the log- decrement method. Part of the reason ... See full document

... unstable system, so we need to change something! With the we can only change the gain, which will not help us here (we have two poles outside the unit circle with no way to get ... See full document

... ECE-520 Lab 4 Discrete-Time PI-D and I-PD Controllers and sisotool Overview In this lab you will be controlling the one degree of freedom systems you previously modeled using PI-D and IP[r] ... See full document

... With the system at rest start the program and slowly turn the pot so the motor is spinning. The motor will not start for low input values so don’t be alarmed if nothing happens at first. Continue to turn the pot ... See full document

... amplitude of the output ( B 1 and B 2 ) when the system is in steady state. Modify the program get_A.m to help record these amplitudes accurately. Be sure the plot from get_A shows the system in steady ... See full document

... frequency control by means of conversion from AC to DC and then from DC to AC by power converters for frequency control of a wind farm is shown in Fig ... See full document

... Step 1: Set Up the System. Only the first cart should move, all other carts should be fixed. You need to have at least one spring connecting the first cart to the second cart (you may also have an additional ... See full document