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ME 401: Microprocessors and Automatic Control: Tutorial 5 - Oct 14, 2010 in Class

This document summarizes the problems covered in a microprocessors and automatic control tutorial. It includes: 1) Plotting the root locus for a closed loop control system and determining stability for different values of K. 2) Sketching the root locus for a system shown in a figure and determining stability for different K values. 3) Analyzing the stability of a PI controller for a DC motor system using root locus analysis. 4) Analyzing the stability of a feedback system controlling the angle of a beam attached to a moving cart using root locus and commenting on adding poles/zeros for stability. 5) The home assignment is to verify the answers to problems 1-4 using Matlab.

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17 views

ME 401: Microprocessors and Automatic Control: Tutorial 5 - Oct 14, 2010 in Class

This document summarizes the problems covered in a microprocessors and automatic control tutorial. It includes: 1) Plotting the root locus for a closed loop control system and determining stability for different values of K. 2) Sketching the root locus for a system shown in a figure and determining stability for different K values. 3) Analyzing the stability of a PI controller for a DC motor system using root locus analysis. 4) Analyzing the stability of a feedback system controlling the angle of a beam attached to a moving cart using root locus and commenting on adding poles/zeros for stability. 5) The home assignment is to verify the answers to problems 1-4 using Matlab.

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Crack110011
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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ME401:MicroprocessorsandAutomaticControl

Tutorial5Oct14,2010inclass
1. Plottherootlocusfortheclosedloopcontrolsystemwith

G(s) =

K ;H(s)=1Userulesgivenintheslides. s ( s + 4s + 5)
2

2. Sketch the root locus for the system shown in figure 1. From the root locus diagram determine for what values of K is the system underdamped and for what values it is overdamped?

Figure1

3. Consider a permanent magnet DC motor with input as torque and output as angular displacement. We want to rotate the motor from =0 to = o. Use the PI controller with KI=3KP.InwhatrangewouldyouchoosevaluesofKPandKIforthesystemtobestable?(Use rootlocusapproach) Motorconstantsaregivenas:Jm=1,Bm=2,m=2inS.I.units. 4. (challengeproblem)Acartrollsalongatrack,withitspositionxbeingcontrolledbyamotor. A beam is attached to the cart so that it rotates freely at the point of contact with the cart. The angle of the beam with the vertical is denoted by. The objective is to keep this angle close to zero. Assume the mass of beam (m) to be concentrated at the end of beam as shown in figure 2. Assume cart to be massless. Length of beam is L=9.8m. Acceleration due togravityisg=9.8m/s2. (a) FindTransferfunctionbetweenxand.Verifythatthisopenloopsystemisunstable. (b) NowconsiderthemotorwithTransferfunction

M (s) =

X ( s) 1 = 2 V ( s) s + s

Sketchtherootlocusforthisfeedbacksystem.Commentonthestabilityofthesystem (c) Canyoustabilizethissystembyaddingpoles/zeros?

Figure2InvertedPendulum
5. Homeassignment:Verifyyouranswerstoproblems14usingMatlab.

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