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June 26, Fitikides Book Free September 1, July 17, Load more. Doorbell Wiring and Installation November 19, January 15, The final value of the speed can be read from the curve and it is 8. Considering Eq. Based on this time and energy conservation principle and knowing the rest of parameters we are able to calculate B. However, this method of identification gives us limited information about the system parameters and we need to measure some parameters directly from motor such as Ra , K m , K b and so on.
So far, no current or voltage saturation limit is considered for all simulations using SIMLab software. Open loop speed response using Virtual Lab: a. Then the system time constant is obviously different and it can be identified from open loop response. Identifying the system based on open loop response: Open loop response of the motor to a unit step input voltage is plotted in above figure. Using the definition of time constant and final value of the system, a first order model can be found as: 9 G s , 0.
If we use the calculation of phase and magnitude in both SIMLab and Virtual Lab we will find that as input frequency increases the magnitude of the output decreases and phase lag increases.
Because of existing saturations this phenomenon is more sever in the Virtual Lab experiment In this experiments we observe that M 0. Apply step inputs SIMLab In this section no saturation is considered either for current or for voltage. Additional load inertia effect: a. The same values selected for closed loop speed control but as seen in the figure the final value of speeds stayed the same for both cases.
As seen, the effect of disturbance on the speed of closed loop system is not substantial like the one on the open loop system in part 5, and again it is shown the robustness of closed loop system against disturbance. Also, to study the effects of conversion factor see below figure, which is plotted for two different C.
Apply step inputs Virtual Lab a. The nonlinearities such as friction and saturation cause these differences. For example, the chattering phenomenon and flatness of the response at the beginning can be considered as some results of nonlinear elements in Virtual Lab software.
Comparing this plot with the previous one without integral gain, results in less steady state error for the case of controller with integral part. As seen in the figure, for higher proportional gains the effect of saturations appears by reducing the frequency and damping property of the system. Comments on Eq. In experiments 19 through 21 we observe an under damp response of a second order system. According to the equation, as the proportional gain increases, the damped frequency must be increased and this fact is verified in experiments 19 through Experiments16 through 18 exhibits an over damped second order system responses.
In order to find the current of the motor, the motor constant has to be separated from the electrical component of the motor. The response of the motor when 5V of step input is applied is: a The steady state speed: This is the time constant of the motor.
The current d When Jm is increased by a factor of 2, it takes 0. This means that the time constant has been doubled. The motor achieves this speed 0. It does not change. This is the same as problem It does not change d As TL increases in magnitude, the steady state velocity decreases and steady state current increases; however, the time constant does not change in all three cases. If there is saturation, the rise time does not decrease as much as it without saturation.
Also, if there is saturation and Kp value is too high, chattering phenomenon may appear.
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