Mechatronic Lab Report: DC Motor Position Tracking Control using Internal Model Principle , Lab Reports of Mechatronics

Download Mechatronic Lab Report: DC Motor Position Tracking Control using Internal Model Principle and more Lab Reports Mechatronics in PDF only on Docsity! ECE5320 Mechatronic Lab #6. DC Motor Position Tracking Control via Interval Model Principle. Due: April 17, 2006. (Monday). A. Objectives:  Getting familiar with the internal model principle  Designing a tracking controller to eliminate the steady state error for sinusoidal position command input.  Experimental results comparisons. B. Required Investigations.  Use a PID controller previously designed to perform the tracking of sinusoidal position commands. Explain why there exists steady state tracking error. Increase the PID controller gain, experimentally verify that the tracking error magnitude can be reduced but still cannot be totally eliminated.  Experiment with sinusoidal positional command signals with 2 frequencies, for examples, 1 Hz and 5 Hz. Compare the positional tracking errors.  Explore the nonlinear (friction) effect by setting the amplitude of the sinusoidal position command signal to a small value. Explain why the steady state tracking error can no longer be totally eliminated even an internal model principle based tracking controller is used. C. Report Requirements  Introduction (Lab requirement and lab environment/setup)  Method (derive the internal model of sinusoidal signal)  Experimental Results.  Discussions.  Conclusions (Remarks/Suggested Further Investigations)  Appendix (Log all details the whole process including things you used, MATLAB scripts/Simulink plots you created, references you consulted.)  References. (including web sites visited) D. Extra Credit  What if the command signal is a symmetrical triangular wavefom? How to come out the internal model? (Refer to the following Simulink blocks for the triangular wave form generation) Pulse amplitude 2, period 1, duty cycle 50%, integrator initial value -0.25