a) Discretize the controller ?(?) for an arbitrary sample time ? using the Forward rectangular rule.
b) Compare between controllers discretized using the forward rectangular rule and the zero- order hold (ZOH) for different sample times (T = 0.05, 0.5 and 2.5 seconds). Comment on the results.
(Hint: you may use software to help you in the ZOH discretization)
(Hint: use pole-zero maps and bode plots)
c) For a sample time of (T = 0.2 seconds), design a controller for the DC motor using direct
digital control design. (Hint: you may use SISOTOOL to help you in the design)
d) Simulate the DC motor’s response for a step reference of magnitude pi/4 using the ZOH
controller with a T = 0.05 seconds as designed in b)
e) Derive the difference equation for the controller used in part d).
f) Write C-code for ATmega328P to implement the controller in part e). Make sure that
your code satisfies the following points:
1. The code should measure the current position of the motor.
2. The code should keep the sampling time fixed as required by the controller using
an interrupt service routine (ISR).
g) Implement your code practically and plot your experimental results for the motor position as a function of time. (You may need to adjust your controller gains according to the DC motor you are using).
Note that: You should show all your steps clearly, submit all the codes used and the results.
Được trao cho:
6 freelancer chào giá trung bình$130 cho công việc này
Hi i am a mechatronics engineer. i have done many projects related to mechatronics. i can help you with your project. feel free to contact with me. Thanks.