ENGRMAE 106 Lecture Notes - Lecture 1: Angular Velocity, Damping Ratio, Step Response

• School: UC-Irvine
• Department: Engineering, Mechanical and Aerospace
• Course: ENGRMAE 106
• Professor: David Reinkensmeyer

Document Summary

Understand how to implement and tune a pd controller to control the position of a dc motor. Explore the frequency response of the pd controller by testing how it responds to sinusoidal inputs of different frequencies. In this lab you will implement a pd position controller. Such controllers are also used in robot arms, radars, numerically controlled milling machines, manufacturing systems, and control surfaces on aerospace vehicles. The pd control law is: desired motor torque (cid:1837) proportional gain (cid:1837) derivative gain where: = (cid:1837)(cid:4666) (cid:4667) (cid:1837)(cid:4666)(cid:4662) (cid:4662)(cid:4667) desired motor angular position (cid:4662) desired motor angular velocity (cid:4662) actual motor angular position actual motor angular velocity. Note that the controller has two terms one proportional to the position error (the p part), and one proportional to the derivative of position (i. e. velocity, the d part). The implementation of this controller for a dc motor with inertia, Block diagram that you will implement to make the pd controller for the motor.