Instite of Technology of Cambodia

Department Electrical and Energy Engineeringc

Thursday 2nd June, 2022

REPORT OF LAB
Lab Part 3 : Feedback Control System

”Filtering”

Lecturer :
CHUM Pharino (Cours)
SENG Dararaksmey (TP)

Name ID Group I3 GEE-C group 6

1 VONG SOVANRAKSA e20191263
2 VONG TITHTOLA e20191264
3 YOEUN SAOSAKADA e20191304

2021-2022
ITC-GEE Feedback Control System

Filtering
Topics Covered

• Using an encoder to measure speed

• Low-pass filters.

Prerequisites

• QUBE-Servo Integration Lab

1. Background
The low-pass filter is used to block out the high-frequency components of a signal. A first-order
low-pass filter transfer function has the form
ωf
G(s) =
s + ωf

where ωf is the cut-off frequency of the filter in radians per seconds (rad/s). All higher frequency
components of the signal will be attenuated by at least−3dB ≈ 50%. Based on the model developed
in the QUBE-Servo Integration lab, the goal is to design a model that measures the servo velocity
using the encoder as shown in Figure 1

Figure 1: Measuring speed using the encoder

1. Take the model you developed in the QUBE-Servo Integration lab. Change the encoder calibration
gain to measure the gear position in radians (instead of degrees). The value of my gain is

−2π −π
= = −0.70◦ = −0.0122
512 256

I3 GEE-C group 6 2021-2022 P age 1

ITC-GEE Feedback Control System

2. Build the Simulink diagram shown in Figure 1 and add Inverse Modulus, Derivative and Scope.
3. Setup the source blocks to output a step voltage that goes from 1 V to 3 V at 0.4 Hz

2. In-Lab Exercise

I3 GEE-C group 6 2021-2022 P age 2