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Closed Loop Assignment - Part 3 - Positions

1)    In this part you will do multiple moves of the turntable using closed loop control.

a.    Define the 180° location to be one half of a rotation away from the dead zone of the potentiometer.

b.    Starting at 180° after 100ms.

                                          i.    Move +50° (to 230°), then wait 500ms

                                        ii.    Move -100° (to 130°), then wait 500ms.

                                       iii.    Move +150° (to 280°), then wait 500ms

                                       iv.    Move -200° (to 80°), then wait 500ms

                                        v.    Move -50° (to 30°), then wait 500ms

                                       vi.    Move +200° (to 230°), then wait 500ms

                                      vii.    Move -150° (to 80°), then wait 500ms

                                    viii.    Move +100° (to 180°), then wait 500ms

                                       ix.    Move  +270° (to 450°), then wait 500ms

                                        x.    Move  -180° (to 270°), then wait 500ms

                                       xi.    Move  -360° (to -90°), then wait 500ms

                                      xii.    Move  +270° (to 180°), then wait 500ms

c.    The criteria for arriving at set point shout be that the displacement error is less than 1.5° (0.0262 rad) and the magnitude of velocity is less than 5°/s (0.08 rad/s). Note, velocity estimates should use filtering as performed in previous assignments.

d.    Optimize the motion(s) and complete them as quickly as possible and minimize overshoot.

        • Demonstrate closed-loop motion to TA.
        • Turn in plots of optimized design that show plots of displacement and velocity as a function of time

f.   Change the gains to show what happens what the control gains are not-optimum.

        • Create a system with less damping and turn in plots.
        • Create a system with more damping and turn in plots.

g.    Document your gains and discuss how you overcame the system friction.