1 / 39

Green Team Speed System

Green Team Speed System. Proportional Only Controller Design and Experimental 11-09-05 Dustin Fraley DeAndre Strong Stephanie Wilson. Outline. Description of Speed System Previous work Step Response Frequency Response Root Locus Proportional only controller response curves Model

Download Presentation

Green Team Speed System

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript


  1. Green TeamSpeed System Proportional Only Controller Design and Experimental 11-09-05 Dustin Fraley DeAndre Strong Stephanie Wilson

  2. Outline • Description of Speed System • Previous work • Step Response • Frequency Response • Root Locus • Proportional only controller response curves • Model • Experimental • Results • Conclusions

  3. / Motor SRC SCZ 1 Generator 1 ST 1 Speed System Diagram

  4. M(t) C(t) Speed System Input (%) Output (RPM) SSOC Input-Output Relationship

  5. M(t) C(t) Ke-t0 Input (%) Output (RPM) Step Response Input-Output Relationship τ– Time Constant (s) = 0.2 t0 – Dead Time (s) = 0.1 K – Gain (RPM/%) = 17

  6. M(t) C(t) Ke-t0 Input (%) Output (RPM) Frequency Response Input-Output Relationship τ – Time Constant (s) t0 – Dead Time (s) K – Gain (RPM/%)

  7. tau - t0 - tau -0.2 s t0 – 0.1 s

  8. Step and Frequency Response Experiments Conclusions • FOPDT Parameters • t = 0.2 s • to = 0.1 s • K = 17 RPM/% • order about 1st • fu = 3.5 Hz • Kcu= 0.3%/RPM

  9. Feedback Controller

  10. Characteristic Equation (CE) Padés Approximation

  11. Control Gain Locations fu = 24/2Π= 3.82 Hz KC-CD=0.02 %/RPM KQD=0.19 %/RPM KCU=0.3 %/RPM Over-damped Under-damped Unstable

  12. Root Locus Conclusions • Ultimate Kcu= 0.3 • Quarter Decay Kc = 0.19 • Critically Damping KCD = 0.02 • Underdamped 0.02<Kc<0.3 • Overdamped 0<Kc<0.02 *all units are % / RPM

  13. Determination of fu • Bode plots • fu = 3.5 Hz • Characteristic Equation (CE) • fu = 4 Hz • Root Locus • fu = 3.8 Hz

  14. P-only Controller Analysis Model FOPDT Parameters • t = 0.2 s • to = 0.1 s • K = 17 RPM/% • Values found for • Ultimate (Marginal Stability) • Quarter Decay • Critical Damping • Overdamped

  15. Set Point Output Decay Ratio – 1 Oscillatory Settling Time – Never Offset - CBD

  16. Set Point Output Decay Ratio – 0.25 Oscillatory Settling Time – 1.25 s Offset – 71 RPM

  17. Set Point Output Decay Ratio – 0 Monotonic Settling Time – 0.5 s Offset – 219 RPM

  18. Set Point Output Decay Ratio – 0 Monotonic Settling Time – 0.5 s Offset – 230 RPM

  19. Controller Operating Curve for Model m bar = 63% r(t) = 1100 RPM delta r = 300 RPM

  20. P-only Controller Analysis Experimental FOPDT Parameters • t = 0.2 s • to = 0.1 s • K = 17 RPM/% • Values found for • Ultimate (Marginal Stability) • Quarter Decay • Critical Damping • Overdamped

  21. Set Point Output SIW 11-5-05

  22. Set Point Output RPM SIW 11-5-05

  23. Set Point Output RPM SIW 11-5-05

  24. Set Point Output SIW 11-5-05

  25. could not be determined

  26. Model vs. Experimental • Decay Ratio • Settling • Offset

  27. FVT = delta R*(1-KCK/(1+KCK))

  28. Conclusions • Low Kc values • Model and experimental responses are analogous • Higher Kc values • Experimental responses never settle • Recommended Kc = 0.19 (%/RPM) • High offset (75 RPM)

  29. Proportional-Integral Feedback Controller

More Related