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Heading System

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공학/기술| 2013.06.20| 28페이지| 4,000원| 조회(78)

제어, 제어공학, Heading System

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Elevator displacement control system

Elevator displacement control systemContents Introduction 1 PI - controller 6 Transfer function 3 Result ① 4 P - controller 5 Block diagram 2 PID - contrller 7 Result ② 8I n t r o d u c t i o n E l e v a t o r To get to where we want floor Exactly No vibration (No overshoot)B l o c k d i a g r a m R(s) = Wanted position D (s ) = Added load C(s) = Real position PlantT r a n s f e r f u n c t i o n Circuit 1 Circuit 2T r a n s f e r f u n c t i o n C u r c u i t 1T r a n s f e r f u n c t i o n C u r c u i t 2T r a n s f e r f u n c t i o nR e s u l t ① C u r c u i t ( Breadboard)R e s u l t ① Matlab OscilloscopeP - c o n t r o l l e r + -P - c o n t r o l l e r B l o c k d i a g r a m CharacteristIc equationP - c o n t r o l l e r R o o t L o c u sP - c o n t r o l l e r M a t l a bPI - c o n t r o l l e r B l o c k d i a g r a m + -PI - c o n t r o l l e r Characteristic equationPI - c o n t r o l l e r R o o t L o c u sPI - c o n t r o l l e r M a t l a bPD Text book example block diagramPD Text book example Root locusPD Text book example MatlabPID - c o n t r o l l e r B l o c k d i a g r a m + -PID - c o n t r o l l e r Characteristic equationPID - c o n t r o l l e r R o o t L o c u sPID - c o n t r o l l e r M a t l a bPID - c o n t r o l l e r Characteristic equationPID - c o n t r o l l e r PID – continue1 Root locusPID - c o n t r o l l e r PID – continue1 MatlabPID - c o n t r o l l e r Characteristic equationR e s u l t ② R o o t l o c u sR e s u l t ② M a t l a bR e s u l t ② B r e a d b o a r d Subtraction PID Summing Plant ① ④ ③ ②R e s u l t ② Compare Matlab OscilloscopeR e s u l t ② Compare Matlab OscilloscopeR e s u l t ② Compare Matlab OscilloscopeThank You !{nameOfApplication=Show}

공학/기술| 2013.06.20| 36페이지| 4,000원| 조회(55)

제어, 제어공학

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Control Engineer

PID Controller: Root Location 2Kp=1.6 Ki=2.944 KD=0.3184 S1= -1.13+1.32iS2= -1.13-1.32i S3= -9.73Choose the controllerIn this case the derivative controller decrease the closed loop performance, so in implementation the controller use PI controller with the gains are:Implementation Control System Using OP-AMPResultWhen the ideal angle of satellite Change of angle by external force Adjusted by the controller

공학/기술| 2013.06.20| 33페이지| 4,000원| 조회(65)

제어, 제어공학, Control Engineer

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Bomb Disposal Robot

DiscussionBy using OP AMP, we did experiment of control systemabout bomb disposal robot.We controlled the angle of robot arm.P controller reduce the time settling and error, but the control system still has steady-state errorPI controller reduce the steady-state errorWe don’t care about respond speed, so we don’t need D controllerWe got the result of oscilloscope and comparedwith MATLAB result

공학/기술| 2013.06.20| 21페이지| 4,000원| 조회(71)

제어, 제어공학, Bomb Disposal Robot

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Automatic Velocity control system

Automatic Velocity Control System Group 3 ENG 1 KOR ENG 2 Control EngineeringPresenter Park Chi YoungContents Introduction Principle Transfer Function Circuit ResultPrevious project ⊙ Pitch controller When the airplane is distracted by disturbance D(s), a pitch controller makes the airplane stable in aspect of flight altitude .Failure analysis ⊙ Matlab ⊙ OscilloscopeIntroduction When a car goes up a hill or a mountain, the angle of slope influences on driving velocity. This system minimizes the change of velocity in decrease.Block Diagram + - + + Actuator Plant Controller Actual Velocity Desired Velocity = Actuator = Plant = Controller = SensorTransfer function + -Circuit Subtraction Z1 Z2 InvertingCircuit = 10 ㏀ = 100 ㎌ = 10 ㏀ Subtraction Z1 Z2 InvertingResult ⊙ Graph by Matlab ⊙ Graph by OscilloscopeNext Presenter Kang manilContents P control PI control PID control Result DiscussionP Controller + - + ++ - Characteristic equation Poles : Zeros : no exist P Controller -Critical damping point Root-Locus P ControllerK p by critical damping point Steady state error P ControllerSteady state error Steady state error = 0.49Trial #1 P ControllerTrial #2 P Controller+ - Characteristic equation PI ControllerPoles : Zeros : no exist PI ControllerRoot-Locus PI ControllerWe Select K i = 0.176 PI ControllerSteady state error Steady state error = 0trial #1 trial #2 PI ControllerK p from K i Poles :-1.03, -0.66+0.154i - 0.66-0.154i Zeros : 0PID ControllerPID Controller Root-LocusPID ControllerSteady state error Steady state error = 0Electric CircuitPI PID comparison Settling time 34s 26STotal Circuit Output V(s) Feedback PI Circuit Actuator Subtraction Point Plant Input V d (s) C 1 C 2 C 3 C 4 R 1 R 2 R 3 R 4 R 5 R 6 D(s ) R 9 R 8 R 7 R 7 R 10 R 10 Summing PointTotal Circuit PI CircuitElectric Circuit (2)PI PID comparison(2) PI PIDPI PID comparison(3) PI PID( K d =0.7)MATLAB Ocsilloscope PI OcsilloscopeDiscussion We selected controller for minimizing the settling time, in the meantime, stabilizing the system(to minimize the error). Kp can be decided from value of critical damping point. We go t the Ki in the equation by using Kp got in the first eqation . We recalculated final value of Kp in the root-locus with Ki we k now(same value with Kp that we got at the first time) It wasn't shown a big gap in settling time and overshoot betwee n PI PID controller when we compared each of controllers out of Kp , Ki , Kd values. In conclusion, we judged that PI controller is a more appropriate for the automatic velocity control system.Thank you for listening Question Answer{nameOfApplication=Show}

공학/기술| 2013.06.20| 41페이지| 4,000원| 조회(93)

제어, 제어공학

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