Discussion of Results

The purpose of this lab was to compare simulated ID models with the real

thing. The system was first simulated on Simulink and the graphs were

obtained for the tachometer and the encoder vs time. The readings for the K

and a were noted for both the encoder and tachometer. These values were

then used to compare the simulated model with the real one. For the real

model the encoder K and a values were obtained to be 186.3903 and 0.9112

respectively. These values were extremely close to the ones that were

obtained in Simulink which shows that the experiment was pretty accurate.

For the tachometer again the values that were obtained were pretty close to

the ones obtained in Simulink. Once these were done a MATLAB code was

generated to use the least square curve fit method to fit both the tachometer

and encoder readings in the graph vs the time. When comparing the

tachometer graph fit to the encoder graph it can be observed that the

encoder signal showed a better fit than the tachometer one which shows

that the encoder is more accurate and yields better results.