DIGITAL SERVO WORKSHOP

In our experiment we obtained:

Ks=0.41667

Ts=0.10767

Cs=5

Control=200

EXPERIMENT NAME: Pole placement by State feedback

Here,

K1=(r1*r2*Ts)/(Ks*Cs);

K2=((r1+r2)*Ts+1)/Ks;

In this case, we obtain: K1=1.2403,K2=-0.1841;

The various graphs obtained are:

1>Closed loop system design and simulation:

2>real time experiment control scope:

3>real time experiment desired speed:

4>real time experiment desired velocity scope:

5>real time experiment position and desired position:

6>real time experiment velocity scope:

7>Real time experiment XY graph:

EXPERIMENT NAME: Deadbeat control

1> Closed loop system design and simulation:

2> control scope:

3> des velocity scope:

4> des.speed scope:

5>XY plot:

6> position des. Pos:

7> velocity scope:

EXPERIMENT NAME:PID controller design:

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2>

3>

A. Analog design:

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B. Discrete design:

1>

2>

33333? 3>

3>

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6>

EXPERIMENT NAME: Frequency analysis: