**2)
****You
are to optimize the turntable for moves of 45° and 90°.** For all the following
parts provide plots of the angular displacement, the angular velocity, and the
drive value. Show all calculations and provide your reasoning for any
assumption.
a.
Define
a proportional gain K_{p} based on an assumed linear range, then
perform angular moves of 45° and 90°. - Select your own linear range. A general guideline is to select a linear range close to the smallest move one expects to move.
b.
Perform
angular moves of 45° and 90° with double the value K_{p} used in part
a. c.
Using
the value K_{p} from part a, calculate a value of K_{d}
assuming a theoretical damping factor ζ= 0.9, then perform angular moves of
45° and 90°. d.
Repeat
part c but with K_{d} equal to 0.5X (ζ= 0.45) and 2X (ζ=
1.8) of what was calculated in part c. e.
Repeat
part c with the addition of integral gain K_{i} to eliminate any
offsets. Describe any limits you put on the integral gain. Compare results with
and without integral gain.
f.
Comment
on what you would do next to optimize your control response. |