MN5552 - Robotics and Manufacturing Automation

Assignment Task

Objectives

To obtain an understanding of controller design using MATLAB.

Description

The work will model a system and design controllers for it.

DC motor controller design

Consider a DC motor with the following parameters:

J = 0.0113 Kg m2/s

b = 0.028 Nms

L= 0.1 H

R = 0.45 Ohm

K1 = 0.067 Nm/Amp

Ke= 0.067 Vs/rad

Consider the rotation speed is the output of the DC motor

P1. Please provide the transfer function and state space model of a DC motor and plot block diagram. The input to the system is the applied voltage. The output of the system is the rotation speed of the motor. 

P2. In MATLAB, plot the step response of the provided DC motor, using both the transfer function and state space model. Please provide MATLAB code or a Simulink model.

P3. In MATLAB, please design a P, PI and PID controller of the provided DC motor. Please compare the results of different controller and different parameters used of the controller, i.e. compare rising time, settling time, steady state error, overshoot, etc.

P4. Please design a state feedback controller of the provided DC motor. Please provide the design progress and the step response of the designed controller. Please analysis the step response of the designed controller. 

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