lab2
Lab 2: Motor Position Control Simulation
Student Name: Colin Power
Student No: C09601627
Course: DT023/3
Group: B
Submission Date: 11th Mar 2014
Aim
The aim of this lab is to simulate motor position control with an open loop system and a closed loop system for a harddrive using Matlab. And compare the experimental results to theoretically derived results.
Results
Figure - Armature Control Motor
Figure 1 represents the mechanisms of the harddrive. This is represented by the block diagram in figure 4.
Open loop
Figure - Block Diagram
Figure 2 represents the transfer function for the open loop system.
Figure - Open Loop Response
Figure 3 represents an open loop step response for the block diagram in figure 2 for a step in put of magnitude 0.1 rad. When Ka = 100 using the following parameters:
Table - Parameters
Parameter
Symbol
Typ. Values
Inertia
J
1N m s2 / rad
Friction
D
20 N m s / rad
Amplifier
Ka
10 – 1000
Resistance
Ra
1 Ω
Motor Constant
Km
% N m / A
Inductance
L
1 mH
The response is a ramp as expected. This happens because there is no feedback in the system. Once the arm in the harddrive is set to go to a position it will not stop and will keep moving at the same rate thus creating a ramp response when simulated on Matlab.
Closed Loop
Figure - Block Diagram
Figure 4 represents the transfer function for the closed loop system.
Figure - Closed Loop Response
Figure 5 represents a closed loop step response for the block diagram in figure 4 for a step input of magnitude 0.1 rad. When Ka = 100 using the same parameters in table 1.
The response is underdamped as expected. The blue line on the graph represents the position of the arm head in the harddrive. The dash line at an amplitude of 1 represents where the arm head wants to be. The feedback in the loop cause the arm head (blue line) get closer and eventually settles were it wants to be.
Experimental results
Student Name: Colin Power
Student No: C09601627
Course: DT023/3
Group: B
Submission Date: 11th Mar 2014
Aim
The aim of this lab is to simulate motor position control with an open loop system and a closed loop system for a harddrive using Matlab. And compare the experimental results to theoretically derived results.
Results
Figure - Armature Control Motor
Figure 1 represents the mechanisms of the harddrive. This is represented by the block diagram in figure 4.
Open loop
Figure - Block Diagram
Figure 2 represents the transfer function for the open loop system.
Figure - Open Loop Response
Figure 3 represents an open loop step response for the block diagram in figure 2 for a step in put of magnitude 0.1 rad. When Ka = 100 using the following parameters:
Table - Parameters
Parameter
Symbol
Typ. Values
Inertia
J
1N m s2 / rad
Friction
D
20 N m s / rad
Amplifier
Ka
10 – 1000
Resistance
Ra
1 Ω
Motor Constant
Km
% N m / A
Inductance
L
1 mH
The response is a ramp as expected. This happens because there is no feedback in the system. Once the arm in the harddrive is set to go to a position it will not stop and will keep moving at the same rate thus creating a ramp response when simulated on Matlab.
Closed Loop
Figure - Block Diagram
Figure 4 represents the transfer function for the closed loop system.
Figure - Closed Loop Response
Figure 5 represents a closed loop step response for the block diagram in figure 4 for a step input of magnitude 0.1 rad. When Ka = 100 using the same parameters in table 1.
The response is underdamped as expected. The blue line on the graph represents the position of the arm head in the harddrive. The dash line at an amplitude of 1 represents where the arm head wants to be. The feedback in the loop cause the arm head (blue line) get closer and eventually settles were it wants to be.
Experimental results