By Carion Pelton, Oklahoma State University
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OverviewIn this experiment you will investigate the frequency response of a position control system for a DC motor. Using the linear DC motor transfer function that you developed in the Open Loop Frequency Response experiment, you will find the closed loop transfer function for the position control system. From the closed loop pole locations, you will sketch the theoretical frequency response of the closed loop system. Following this, you will find the closed loop frequency response experimentally, by inputting a sinusoidal reference position, for multiple frequencies, into the motor control system. You will also use MATLAB to calculate and plot the theoretical frequency response. By comparing the theoretical and experimental frequency responses, you will develop insights into the capabilities and limitations of linear models of dynamic systems for predicting real-world performance. You will also study the effects of position and velocity feedback on closed loop performance. Click on the Handout PDF link in the right sidebar to download the Experiment Handout. It describes all of the steps you will need to perform to complete the experiment. If you click on the Hardware/Parts link in the right sidebar, you will find a list of all parts needed to perform this experiment (same as for the Open Loop Frequency Response experiment) and places to order them. Software that you will need to run the experiment is available from the Software/Code link. What You Will LearnAfter successful completion of this experiment, you will be able to implement a closed loop control system, with position and velocity feedback, for a DC motor using an Arduino. You will also be able to predict the frequency response of a real-world dynamic system, and verify the prediction experimentally. You will also learn the limitations of linear models for predicting real-world results. PrerequisitesBefore running this experiment, you should perform the following experiment: Open Loop Frequency Response. |
Handout PDFHardware/PartsSoftware/Code3-D Printer Files |