Torsional Mechanism System

2493 Words Feb 25th, 2015 10 Pages
Dynamics and Control ENGD3038 |
Position and Speed Control of 1DoF Torsional Mechanical System |
Name: Elina Ioannou P12201589 Lecturer: Prof. Bogumil Ulanicki |

De Montfort University 2/24/2015 |

ContentsPage

Introduction………………………………………………………………………………….3
Parameters of the open loop 1DoF torsional system…………………….4
Position Proportional Control plotting data………………………………….6
Parameters of transient responses and their affect by gain Kp……..11
Position Proportional control with velocity feedback plotting data.15
Parameter of transient responses and their affect by gain Kd……….20
Speed Proportional feedback control……………………………………………23
The response of closed loop system
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ECP software runs on an IBM PC or compatible computer and corresponds with ECP's digital signal processor (DSP) based real-time controller. Its primary functions are supporting the downloading of various control algorithm parameters (gains), specifying command trajectories, selecting data to be obtained, and specifying how data should be plotted. ECP Model 205 torsion apparatus represents a broad and important class of practical plants including: rigid bodies, flexibility in drives, and coupled discrete vibrating systems. It easily transforms into second, fourth, and sixth (optional) order plants with collocated or no collocated sensor / actuator control. This laboratory dealt with a single simple degree of freedom.

Parameters of a single Degree of Freedom
The control degrees of freedom are the number of variables that can be controlled in the process, and the knowledge of them it is important in order to develop the process of the control system.
In the most common form of 1-DOF torsional plant, friction is taken as being viscous. Applying Newton's second law to the attached rotating disk using free body diagram method then following up with differential equation and the deducing:

Where

By applying Laplace transform on the first equation of 1DoF:

The first experimental Study of this Laboratory was the investigation of the open loop system…