mal; widows: 2; word-spacing: 0px; -weSCHOOL of ENGINEERINGEGR3032M State Space Control: Coursework Assignment 2 Page 1 of 2State Space Methods for System Modelling & Controller Design: DC MotorSYSTEMS MODELLING ASSIGNMENT PART 21. INTRODUCTION1.1 Background This assignment follows on from assignment 1, which you completed in Block 1. As before, it relates to the DC Motor Control Trainer (DCMCT), which will be used for practical application of the techniques we have learned in Block 3. It is going to be controlled by computer as a Hardware-in-the-Loop simulation.1.2 Objective The objectives of this lab are to: Develop and validate a DC motor model through first principles modelling and experimental tests Design and implement a controller to achieve desired performance specifications. The coursework is split into three parts: a system modelling assignment, a controller design assignment, and a lab report detailing the practical experimentation. This assignment covers the controller design part of the coursework. The objective is to design a controller for the system.1.3 DC Motor Modelling In Assignment 1, you produced a model of the hardware which should have been similar to eqn. (1).??? ??¦ ?¦?ÿ??ÿ?? ?? ? ÿ???? ?????? ??????? ???¦???? ??????? ??ÿ????¦ÿ??? ??¦ ?¦?ÿ?? ?? ÿ??10 ??( ??ÿ????1) In addition to this hardware, there are some components and calibration factors which were not modelled. The manufacturers describe the overall system using the transfer function:?? ???? ?? 0 1 8 1931932?? ???®r s s ss.?£(2)SCHOOL of ENGINEERINGEGR3032M State Space Control: Coursework Assignment 2 Page 2 of 22. PRE-LABORATORY COURSEWORK ASSIGNMENT 2: CONTROLLER DESIGN Write a short document which addresses the following points. a) Express the transfer function in equation (2) in state space format [Hint: this was coveredin Block 1, and in Nise Chapter 3.5]. Determine the poles of the open loop system. b) Compare your answer to the model you found in Assignment 1. You should comment on: a. the dynamics of the system. b. the states in physical terms (i.e. displacement, voltage) c. how would you obtain the other states? c) Build a model of your system in Simulink, and use it to obtain a plot of the system s response to a unit step input. d) Design a state feedback controller for the system, so that the closed loop model responds to a step input with no more than 5% overshoot and a settling time of 0.25s. e) Add the controller to your Simulink model. Plot the system s response to a unit step input, and compare your answer to part c). f) In your practical laboratory, you will add this controller to a DC motor rig which cost ?1000. Do you think your controller will work? Do you foresee any problems? g) The real system receives an input which could be in the form of a triangular, sinusoidal, or user-defined signal. Modify the control of this model, so that the output tracks the input signal.3. HAND-IN / ASSESSMENT An individual coursework assignment is due from every student. The assignment is due by 15th February 2016. It should be submitted electronically via TurnItIn (on Blackboard, under Assessments ). The assignment should be written and formatted as a professional piece of work i.e. written in formal, impersonal English with referencing where appropriate. It should contain figures and selected representative graphs where appropriate, and these figures should have relevant titles and annotations. Marks will be awarded for answering each of the points in section 2, plus some marks for presentation and clarity.
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