ME 142 Fall 2023 Lab 10 MESAbox 4 Simulink

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Mechanical Engineering

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Jan 9, 2024

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ME 142 Fall 2023 1 ME 142 Lab 10: MESABOX 4-Simulink Maximo Zendejas Introduction: In this lab a plant will be constructed like Lab 09 with a Motorized Linear Potentiometer replacing the original motor. In the first part of the lab a plant will be developed to drive the linear motor forwards and backwards through a pulse generator. The motion of the motor will then be graphed. Afterwards the plant will be modified to run the motor based on sin wave frequency. The new plant will then be used to monitor the motors’ dead zones which will be analyzed and graphed. In the next part of the lab an equation will be constructed to work around the range of the motor’s dead zones. For the final part of the lab the input and output relationship will be analyzed and compared to the frequency sweep of a previous lab where a bode plot will be constructed. The bandwidth of the system is then checked and compared at a frequency of 100hz where the behavior of the control system will be determined. Summary of learning outcomes 1. Construct plant with a linear motor and graph the pulse movement and analyze its dead zones. 2. Design a system to ignore the motors dead zones. 3. Analyze the input and outputs of the plant and compare the system to one made in a previous lab. Part1: Liner Potentiometer and Dead Zones A Motorized Linear Potentiometer is a belt driven motor that moves a slide back and forth on a rail. The component has two potentiometers with a total resistance of 10K ohms each. With the potentiometer servo feedback can be used to monitor the position of the slider on the rail and with the information it can be used to help control the movement of the slider. The circuit was assembled using the motorized linear potentiometer, Red Arduino Board, and the Motor Sheild. The motor shield was placed on top of the Arduino board making sure the pins aligned properly. The linear potentiometers have five wires that are attached to the motor, sensor and its power source. First the two wires for the motor are attached to the servo ports. Then there are three wires left, two at the top of the rail and one at the bottom. One wire at the top and the bottom of the rail are the ground and voltage which are then placed to the correct pins. While the last pin is a sensor pin that is placed on the Analog A4 pin. The finished circuit can be seen below.
ME 142 Spring 2022 2 Figure 1: Motorized Linear Potentiometer System Once the circuit was constructed then the Simulink model was created. Which can the seen below. Figure 2: Motorized Linear Potentiometer System The model has three separate systems that correlate to one another. The first system starts with a pulse generator block connected to saturation block which creates an upper and lower limit. The pulse is then transferred to the frequency block for pin 3 which in this case is one of two wires connected to the servo motor. The next system a has a square wave generator connected to a switch block which was connected to the constant i. Then two constant blocks with values of one and zero are connected to each side of the switch with the end of the switch connecting then to an output block at Pin 2. The last system for the model starts with an input block for the A4 pin connecting to a gain with a value of one tenth to adjust the sensor values to the correct units which is then connected to a display block to show the value of output A4. Additional two workspace blocks were added to the model, one block was attached between the saturation block and the output block. The workspace block was labeled inputData1, and the other block was placed in between the gain block and the display block, with the workspace block being labeled Position1. Lastly a scope block was added with two inputs that were then attached to the same spots as the two workspace blocks. The system operates by having the square wave function power into a switch with constants zero and one which then powers the motor. The values of the switch are what cause the motor to go back and forth. Then a pulse is added to a separate system with saturation block with an upper and lower limit of 0 and 225 which are the limited values for the potentiometer in the linear motor. This system controls the speed the motor is running. The last system for the A4 takes the sensor the data and with the to workspace block records the data to MATLAB. The second block also records the data of the pulse. The values of both the position and pulse can be seen in the graph below.
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