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Mechatronics Engineering

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.

Kĩ năng: Điện tử, Kĩ thuật, Kĩ thuật điện, Lập trình C

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