ENME 585 Lab 4 Report (Section B06)

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University of the Fraser Valley *

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Course

585

Subject

Mechanical Engineering

Date

Dec 6, 2023

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pdf

Pages

10

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Report
ENME 585 Fall 2022 Lab 04 – Stabilization of a Cart and Pole Lab Submission Worksheet Page 1 of 10 YOUR GROUP INFORMATION Lab section : Date: B06 November 10, 2023 Laptop # : Hardware # : 5 Q8USB: 07; VoltPAQ:03; LinearServo: 01 First Name 1: Allen Last Name 1: Okanovic First Name 2: Pranab Last Name 2: Barua First Name 3: Marcus Last Name 3: Gregory First Name 4: Raksha Last Name 4: Achar First Name 5: Ayman Last Name 5: Malkawi YOUR FEEDBACK A. How would you rate the difficulty of this lab? Medium B. Were there any aspects of this lab that you struggled with or found confusing? If so, which? None. C. How long did it take you/your group to do the lab, including finishing this submission form? 2 hours. D. Suggest improvements, if any. Type here.
Page 2 of 10 QUESTIONS: Cart Model Identification via Step Response (12/32 marks) Q1. Insert the figure of the scope output for the 5V step input, complete with your selected data points shown. Enter your determined values for 𝑐 and 𝜏 in the table below. Constant Value 𝑐 [m/sV] 0.1702 𝜏 [s] 0.114
Page 3 of 10 Q2. Insert the overlay plot output from the MATLAB script using physical system response values of c and 𝜏 , with the figure title and axis labels. Provide possible reasons for the difference between the actual linear cart output and the theoretical step response. The reasons for the difference between the actual and linear output. Friction between the rod and where the cart sits on the rod as it moves along the rod. Friction between the gear and where the gear sits. In the theoretical response, inductance is neglected. In the actual response, inductance is accounted for which makes up the variation between the theoretical and actual step responses.
Page 4 of 10 Q3. Insert the overlay plot output from the MATLAB script using theoretical system response values of c and 𝜏 determined using Quanser’s values from the prelab, with the figure title and axis labels. Provide possible reasons for the difference between the actual DC motor output and the theoretical step response. The main differences between the theoretical and actual step response are because the parameter bec is larger than bec in the actual step response. This is because Quanser supplies mean values for all their equipment which means it assumes a constant mass through the equipment whereas in the actual response, the mass varies.
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