where: the DAC gain, = 10V / 32,768 DAC counts kc, the Servo Amp gain, = approx 2 (amp/V) ka, the Servo Motor Torque constant = approx 0.1 (N-m/amp) kt, the Motor Pinion pitch radius inverse = 26.25 m-1 kmp, the Encoder gain, = 16,000 pulses / 2 radians ke, the Encoder Pinion pitch radius inverse = 89 m-1 kep, the Controller Software gain, = 32 (controller counts / encoder or ref input ks, counts) The final report is expected to include: A diagram identifying the control elements and signals in the experiment, including: Sensor: Actuator: Controller: Reference Input: Actuator Output: System Output: Seven (7) MATLAB Plots, with two (2) Data Cursor Points on the plots required to find the natural frequency of the system, along with titles, labels and legends if necessary that clearly show which plot corresponds to which situation. Plots include: Plot of Mass 1 Trial 1 (with four weights) Plot of Mass 1 Trial 2 (without weights) Plot of Mass 2 Trial 1 (with four weights) Plot of Mass 2 Trial 2 (without weights) Plot of Mass 2 with dashpot connected (with four weights) Plot of Mass 2 Trial 3 (with the high-stiffness spring and with weights) Plot of Mass 2 Trial 4 (with the low-stiffness spring and with weights) Calculations showing how you found the following values, along with units for EVERY quantity found. Use equations 1-1 1-5. – Mass 1 Trial 1 natural frequency, nm11 Mass 1 Trial 2 natural frequency, nm12 Mass 1 Trial 2 damping ratio, m12 Mass 2 Trial 1 natural frequency, nm21 Mass 2 Trial 2 natural frequency, nm22 Mass 2 Trial 2 damping ratio, m22 Mass 2 damping ratio with dashpot connected, d Mass 2 Trial 3 natural frequency, nm23 Mass 2 Trial 4 natural frequency, nm24 Mass of brass weights, mw Mass of Carriage #1 plus driving unit, mc1 Mass of Carriage #2, mc2
where: kc, the DAC gain, = 10V / 32,768 DAC counts ka, the Servo Amp gain, = approx 2 (amp/V) kt, the Servo Motor Torque constant = approx 0.1 (N-m/amp) kmp, the Motor Pinion pitch radius inverse = 26.25 m-1 ke, the Encoder gain, = 16,000 pulses / 2 radians kep, the Encoder Pinion pitch radius inverse = 89 m-1 ks, the Controller Software gain, = 32 (controller counts / encoder or ref input counts) The final report is expected to include: A diagram identifying the control elements and signals in the experiment, including: Sensor: Actuator: Controller: Reference Input: Actuator Output: System Output: Seven (7) MATLAB Plots, with two (2) Data Cursor Points on the plots required to find the natural frequency of the system, along with titles, labels and legends if necessary that clearly show which plot corresponds to which situation. Plots include: Plot of Mass 1 Trial 1 (with four weights) Plot of Mass 1 Trial 2 (without weights) Plot of Mass 2 Trial 1 (with four weights) Plot of Mass 2 Trial 2 (without weights) Plot of Mass 2 with dashpot connected (with four weights) Plot of Mass 2 Trial 3 (with the high-stiffness spring and with weights) Plot of Mass 2 Trial 4 (with the low-stiffness spring and with weights) Calculations showing how you found the following values, along with units for EVERY quantity found. Use equations 1-1 – 1-5. Mass 1 Trial 1 natural frequency, nm11 Mass 1 Trial 2 natural frequency, nm12 Mass 1 Trial 2 damping ratio, m12 Mass 2 Trial 1 natural frequency, nm21 Mass 2 Trial 2 natural frequency, nm22 Mass 2 Trial 2 damping ratio, m22 Mass 2 damping ratio with dashpot connected, d Mass 2 Trial 3 natural frequency, nm23 Mass 2 Trial 4 natural frequency, nm24 Mass of brass weights, mw Mass of Carriage #1 plus driving unit, mc1 Mass of Carriage #2, mc2
05_RectilinearControlSystem.docx