EE 476 Lab 2

This project consists three major parts including PLC design, motor control trainer, and Pendubot experiment. I select the second lab as one of the example to illustrate what I’ve learned in this class.

 

The second lab is DC motor control lab. This lab consists modeling, speed and position control, and robustness. My duty is to finish the modeling and lab report. I derived all differential equations of current and angular velocity of DC motor with and without friction terms, saturations, and magnetic lag. In other words, I derived both linear and non-linear differential equations of DC motor. Besides, I used Simulink to build block diagram based on the differential equations in order to compare the model response and actual response with different types of input.
 

Furthermore, for speed and position control modeling, I also derived the equation of transfer function, set point weight, steady state error, etc.. Then I did the Simulink model and corresponding simulations. My teammates on the basis of my equations to get a desired PID parameter. At the end, combined the experiment and simulation output into one plot to figure out the nuance of them.