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Frrrtl-rer Ccntrnl cf tlre ftC Motc,r l+lnclr-rle Chapter 5,3 I ntegraI S1:eer1 [--lrrtrr:l # Fxrr"eis e 72 Construct lhe s,;stlm ir-: !:-!3 r.1 ,cet ProOort;cnal lLtr Derivative Ot-lT lntegrallN ki .- G Fllter Cl,.lT * f P.*rr Coan..li$r ur! Shrn Far Clrrilv ? Apply an input cf *2V at 0.1 l'lz ?nd cbser.rq boih cr:mrnand VOltaOe 1n{ llro l?f l-r1qo6qlntnr_c f oc4brCk r.,a!i?Oo 1tpr*gf,nri;19 0utP!il. (r'i! ! D-4. f,trla. C.nr:.1 u.xtult Fuq!l3a Ctntr.lo. E (>- 0v voL.l ovO vour O ovO F-C E11 ovO Dfo or c) orO 030 ovO pro oy (l Crm-' ll lntegral Speed Coriirol Cliaptcr"S,s f l'rc ierpoi ise tr a 'sluil' unJeidarilped f eSLrCnSe i$.e f ig o.i lrt;;ut _--*. Ou iptr t & lnc; ease k; to t 2. Ooser-ve tfie overs[ioJt anO osciilation incrcases. 3 flecord the iime taken to reach lhe p;ak ov€rsricct. 3 fieouca k;to 1. Oi.,Serv'e tl-re reSponSe iS riorv O.r,erOampecl_ We have thus created a fiew speed contrul syst.c,ri tvltrI predominantly second ordei'characteristics tnat ere cor rriuricrl r.:; k;. 5 Set k1 lc ci. 3 Heouce the inpur frequency to zero so that ille r.lrive rtin: at a constarrt speed. I Fleouce the input ampiitlrde to give an uuiput speao oi ar;i,t i 100 rev. min I i;ii Chapter 5"3 lntegral Speed Cnnircl SuCCenlv ar:nlv llte f.rr:r,.g 3p1rt cls9r.,,. 1h.,i15p.r1r,.. Ren-nt fcr : i,-r.dder r:!r::.: Cb;t€r:,'a a lransieni lika Fir: ES b'-,1 n.,to il-a! tIr, as;11i1 rq,q.i.,,,o.-r e F:ooat at r:?[rcr otin" Ensure that the inpul a.nd cutr:u! lsc;tlcscc:no titces e.,,! rl:i each ciher w,iih zere innut. F l'Jor^r chanoe to a FA,lu4Fr inprrt a!0 1l-Jz. lF Set ki tr: 10 an.1 Shrer-;e lhat thr: foltny.,inrl error lerrris to ztr,: These a.spects 4ll cr lpgrnrf ll-'e p;n;-r1,qi,ls r.f lht Drel.ri(rl.!! Ch?r.:!er F 'F \ f I { Brake ,n' n1-'lierl ! -]! Furtl"rer Contral of the DC Mntnr l;1r.,rJtrle Chapter 5.21 Propoiiic;,at + fr"r;i sp-eec,;i6l The pre'rious exercise has sufrpcrteC our nroccsals of elirninafinn steadv state errtr.s. lt r^",i!t also supoorl th,l corlept cf a s!o,.v., resooqse. When you recorded the time to peak lor a lZy input and k i -. 1 2 it i. likely to be around 6CCms. This is mLrch mcre th2n r.ye had y.,irh prcforlionalcontrol. You may have noticec thai the RlsE Trr\"'!E (usu r:ilv crf rnec 3! ihs time taken bythe outputtochanoe from r0?i to 90% oliis tinar steady va.lue) is actually relaiivelv short vrith inteqrat coniror birt lhe trarrsient oscillations are al a relatir,,ely lcw fr.equency thus extending the lime taken to seiile lf these roulC be da:r:ne-,C lirr : f aster everal! re:p3ns? !",'.f ui(,J resull The adtJitien of nrc'pc.!icnal ccntrr.:l ',vill ha,, + g,1c-jccry r!-riq of fnr...l + trXorCiSF T3 PrcceeC aS per lhe early staqes cf Exsrcise 2?, jbtair;r:,: ll-r. steD resncnse to a :t2\.r'inprll al 0. 1 H.: w,ith k; = .l ? lJorv set lh: prcpct'-iicnal glin tr: 0. 1 er"rC s,.,ritr;h il irr" lncrease the prcportiona! c':in end cbser;e lh:trhl c,",errlr:c.l is eventually darnr-red cut. This leaves a response that -se[les in a much shcrier trme. r.br:r-rt half that with in'1,.:cra! alcne, but relains iire at-*,.ilitv f c cl,rntq:r ce lcrr:::t Cisturbances" Run a.t 75 rev and verif't lhe above bv !ryino lo slo.*,ihe 3.,,q!ern h,,, min orippipq the output shaii. ProportionalActian provi*r?}_i* [- *'Y"L *-.5*- -s ta ble Cutpr.ri Qr, The foilowing exercise ,till req'li;e a certain amount cf inpul frcrrr yourself in adaoting it 1o the particu!ar equirrme nt vcu ha'ie since lhere r,vill be man,r mincr varialicns. The integr-a! rrsei brr,llcn can bq tt:gd gyionSir.rg!'y !a 1c. 5t1hili7o tha crrqlorn r.11!'r liriia it rr Ini :r.'.,a.,' lri lnstability in tl-ie DC Motor Mociule Ctrapter. 6.+ *' [.,.ercise 25 t, C.:;rsi.ruit liie crrcutl rr', Flg 96 fuettoo C.o.r.{d, PS{ iy.l.6 Po*rr i0 ,l?v OV .l 2v vcF lnpat o Vln E 0v Vout Q ovO V0ul e ovO P*O Ec) ovO o00 oro ozO o30 ovO P00 0vo A5{ P,l-O. cJntroll.( do 0-o 6o +l2V 0V '11V liP Q crr' Cr Ou C!mr*0(, )up €rror C,P Vollrc. C f O - i Cc,rl.cllrr O ^. uJr(rcll,i IP q O,p /\t) rnnrr Locp ^ \* t..dcrci P<) ./t;e Q urP r-**; O (>g Aui. F.rdDdr !P (yO M.in i.ndosk li? lt? c' P Po(.f Corinr;llurr ho{ 5no!,1 for airiity Fig 5o frtS I 5 O.C. Molor Cqntrol Modul. Set rhe follcwing Proponir,nal lN l.p = lntegrallN ki = .l Derivitive OUI' FilterOUT !!c are going to use P + I positicln co{ttrci arrd aie ioli.rrvtr ,g tt,.; procedure of Exercise 24 conducted earlier. $ Apply a -r0.5V squ are lvave at 0. 1 Hz ano otrse i^r'e titr= ilolr i, r,-, , input ano potentio.neter output on tha cscilloscope. * increase ki until the syslefi goes unstaole, usuaily irroUrir; ki =9toki= Il. I'Jote lhe value of kijust befoie this occurs, t'lpically c to 10. S''henever the syslem runs avJay hoid th., iirtegral reset outi.rr, iir t,. return it. t"; Oicilbr:op. Qou o _,1 l -. a Chapter 6.4 lnstaL"rility in tire DC ltlotor MccJr_rle G G I Havino established lhis ccndition r,,,q no,,v w?nl to v*r.ify thal the eiemenls in the loop prorluce a lain clesr t.: i.rnitv ,rriih ! gQ-,. 1,t:: tc f :6 G Suzilch off the siqnal 0eqeralcr, G Remove theoscilloscoF,e lead monitor.ing the cornnrar.rd lrrr-j connect it ln reaC lho rrrlpr.itcl lhe eri.cr dgter:ror. Return kito j G round the cscillosccce input channe is mcrnen taril,v a nrJ oyerlav the hva li.ares Set hoth gain_* lc O ,I_ C I-T1 tri select a sinrrsoicJar innur at 1r-lz and s,,vitch on the gencr?ior. 1 t-{z is selected because loiver f reqs6ncies will shr-rrr sionif ii:frr-rt i-lcn l'l:,,'l'?:,lit fhe systern andin qcr?re! ,r.,.,.,r..,,11-,.,,,,,.=.^^,i,r,-,,,= tcr instabilityoccur at I - t.3t-tz, C)bsen,e the hvo sinuseiCs. The feedback signal, u",hich won'l be a truc sinusoid,,,;ill be :-:.:ll,1r than the error and laocino by 120" or 5a lncrease kiin sleps 3it3winQ the system to s_-tlte each rinre Observe thatthe pt,.ass lag is increasino. ryl't': hapgening is that ihe p.eviousry mentionec phase iead rfrecl of the tr * I ter"ms becornes ress at lhe il-lz freoLrerrcv as ki increas.o G V/hen ki reaches around g - 10 you shcutrj havq clole lt 1gn. phase with a oain less than ur:ity. t Very slo,*ly increase lhe fTeouency. The anrnlitLr;i9 5l-1ny16 inrr?a"o anrj !he qvs!an-r ,,,.ill L,ecnme.n