speed control

Rotary Motion Servo Plant: SRV02

• Objective: Develop a feedback system to control the speed of the rotary servo load shaft.

• Controllers Used: Proportional-Integral (PI) controller and lead compensator to regulate shaft speeds based on specifications.

Table of Contents

1. Introduction

2. Prerequisites

3. Overview of Files

4. Pre-Lab Assignments

   • Desired Speed Control Response

   • PI Control Design

   • Lead Control Design

   • Sensor Noise

5. In-Lab Procedures

   • Speed Control Simulation

   • Speed Control Implementation

6. References

1. Introduction

• Goal of Experiment: To design a feedback system capable of effectively controlling the speed of a rotary servo load shaft, meeting specified performance criteria.

• Key Tasks:

  • Design and simulate a PI controller.

  • Implement the designed controllers on the SRV02 device.

2. Prerequisites

• Familiarity Requirements:

  • Data acquisition card (e.g., Q8) and power amplifier (e.g., UPM).

  • Wiring and operating procedures for SRV02.

  • Understanding of transfer functions.

  • Experience with QuaRC software.

3. Overview of Files

• Various supporting files are provided to assist in the execution of the laboratory tasks including manuals, setup scripts, Simulink models, and MATLAB scripts for calculations.

4. Pre-Lab Assignments

4.1. Desired Speed Control Response

• Specifications for the closed-loop system are established:

  • Steady-state error: 0

  • Peak time: ≤ 0.05 seconds

  • Percent Overshoot: ≤ 5%

4.2. PI Control Design

• Closed-loop Transfer Function: Structure used is defined for velocity control based on PI control principles.

• Finding PI Gains:

  • Control gains to satisfy performance specifications are derived from the system's characteristic equation.

4.3. Lead Control Design

• Parameters a and T adjust the pole and zero locations of the lead compensator.

• Bode Analysis: Used to determine the stability and performance of the system under lead control configuration.

4.4. Sensor Noise

• Noise levels associated with tachometer signal measurements are estimated.

5. In-Lab Procedures

5.1. Speed Control Simulation

• Conduct simulations to verify both PI and lead control system designs under given specifications.

• Key Steps: Setting up the model, adjusting control parameters, and running simulations to analyze performance metrics.

5.1.1 Setup for Speed Control Simulation

• Load necessary MATLAB files and open the Simulink model for speed control simulation.

5.1.2. Simulated PI Step Response

• Configure the system and measure responses for validation against specifications.

  • Parameters measured:** Steady-state Error, Peak Time, Percent Overshoot, etc.

5.1.3. Lead Compensator Design using MATLAB

• Utilize MATLAB for the systematic design of a lead compensator, checking performance using Bode plots to maintain required specifications.

5.1.4. Simulated Lead Step Response

• Similar process as PI, ensuring requirements for lead controller design are also fulfilled.

5.2. Speed Control Implementation

• Transition from simulation to actual hardware implementation for both PI and lead controller setups.

• Steps Involved: Setting controllers into the Simulink model, running the model, and measuring responses.

5.3 Results Summary

6. References

• Refer to various user manuals for components including the Quanser Q4/Q8, UPM, and SRV02, as well as specific references for the QuaRC software.