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ME2142C1 162 Intro To Controls
ME2142C1 162 Intro To Controls
ME2142C1 162 Intro To Controls
Semester 2
2016/2017
By A/P GS HONG
Mechanical Engineering Department
National University of Singapore
Rm: EA-05-24
Tel: 6516-2272
email: mpehgs@nus.edu.sg
Laboratory experiments:
Frequency Response
Speed/Position Control of a DC Motor
in humanoids >
in manufacturing
processes
in CNC machines
Two approaches
Case I: Open-loop Control
and ? 10
V(t)
5
equations yield (refer to Chapter 2)
0
0 2 4 6
Time (seconds)
8 10
15
Using final value theorem yields
10
lim
Output
5
12
Using final value theorem yields 10
lim 8
6
0
0 2 4 6 8 10
Time (seconds)
Say, we did not model the system correctly, the actual motor equation is
2 0.8
Control Signals V(t)
15
Closed-loop K=1
10 Open-loop Vo=10
15
10
10
0
V(t)
0 2 4 6 8 10 5
5 Time (seconds)
0
Motor Position theta(t)
-5
0 10 0 2 4 6 8 10
0 2 4 6 8 10 Time (seconds)
Time (seconds) K=1
8
K=2
15 Motor Positions theta(t)
6 12
10 10
4
Output
5 6
2
4
0 0 2
0 2 4 6 8 10 0 2 4 6 8 10
Time (seconds) Time (seconds) 0
0 2 4 6 8 10
Time (seconds)
+ Y(s)
G (s)
0 .1 Kc G(s)
2
s s 2s 1 R(s) -
Controller gain System
1.4
1.5
1.2
1 1
y (t)
0.8
y(t)
0.5
0.6
0
0.4 0 2 4 6 8 10 12 14 16 18 20
t
0.2
A further increase of the controller gain
0 will make the system unstable.
0 2 4 6 8 10 12 14 16 18 20
t