# 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.