Control and dynamics laboratory

Reference no: EM132301853

Control and Dynamics Laboratory

Investigation of open-loop dynamic responses using Rectilinear and Torsional Apparatuses

Set up the ECP M210 system. Assemble ECP M210 system with only one trolley carrying two 500g mass blocks being connected to the left constraint by a spring with stiffness coefficient k1=800 N/m. Dashpot is not connected to the trolley in this experiment to minimize dissipative forces in the system.

Download the configuration file, default.cfg from the FileÞLoad Settings menu and the control personality file, M210-v38.pmc from the UtilityÞDownload Controller Personality File menu.

Ensure that Control Loop Status indicates "Open Loop". Otherwise, press "Abort Control" button at the down-right corner of the main screen.

• Execute a Step Input Control. Enter the Command menu and select Trajectory.
• Select Selections: Step
• Then push Setup.
• In the "Configure Step Trajectory" window ensure that "Open Loop" is checked (see box on the right).
• Set control effort = 1 V, dwell time =4,000 ms and no. of repetitions = 1.
• Exit this window by pressing OK.
• Go to the Command menu. This time select Execute and with the Normal Sample Data box checked.
• Press Run button to execute selected control input (trajectory) and wait for the data to be uploaded from the real-time Controller. You should notice a step displacement of the trolley for duration of 4 seconds and return back to initial position.

• Plot Data. Now enter the Plotting menu and choose Setup Plot. In the new window:
o Ensure that Encoder 1 and Commanded Position are appeared in the left window for plotting (in the left axis)
o Press Plot Data button. You can now see Plot window with Open Loop Step response of the system. An example of the plot is shown in
o Figure 4.
• Export Raw Data.
o Enter Data menu and choose Export Raw Data.
o Choose a path and save the text file.
o The file contains acquired data in a format suitable for reviewing, editing, or exporting to other engineering/scientific packages such as Matlab. You can recreate, analyse and process the system response there. 1 revolution = 16,000 encoder counts = 7.06 cm = 2.780 in,

Two degrees of freedom system
Identification of the 1DOF system parameters (open-loop)

Torsional dynamic plant ECP M205

One Degree of Freedom configuration plant

Experimental study: analysis of the open-loop system

Experimental study: analysis of the open-loop system Identification of the 1DoF system parameters

Reference no: EM132301853

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Control and dynamics laboratory : ECP-210/205 - Control and Dynamics Laboratory -Investigation of open-loop dynamic responses using Rectilinear and Torsional Apparatuses - DE MONTFORT UNIVERSITY

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Reviews

len2301853

5/8/2019 11:07:27 PM

Plot transient response of the torsional system ECP205 with one disk (single degree of freedom system) to the applied pulse control input using ?“ECP_torsional_data_processing.m”. NB: ?Enter the ‘name of file’ with the data you collected during experiment: D = readECPdata(?'name of file'?). 20 Explain principles of the finite difference differentiation of the transient process and action of the Batterworth digital filter ?“filbat.m” ?making derivative of the transient process less noisy. Explain the same procedures applied to the smoothed angular velocity to predict angular acceleration of the disk. 10 Reflection of your understanding, summary and conclusion of experiment ?25

len2301853

5/8/2019 11:07:15 PM

Attach the air dashpot to the trolley and tune its valve screw to reduce the overshoot and provide critical damping to the system. Save and plot several transient processes. Give the explanation to the observed results. 10 Connect a second trolley using additional spring. Apply a sine sweep control signal and run the vibration test. Plot amplitudes for two trolleys using Matlab script ?“ECP_sine_sweep_input_twoTrolleys.m” provided on BB (enter the file name with your experimental data). Explain the origin of two peaks in the system response. 10 Reflection of your understanding, formulate summary and conclusion ?25 Torsional dynamic plant ECP M205 ?Description Weight ?Introduction of the system, Brief explanation of machine ?10 ?Aims and objectives of experiment ?10 ?Identify parameters of the torsional system (the moment of inertia of the disc J, the viscose damping coefficient c, and the dry friction moment acting on the disk, T?f?, using instructions given in Assignment

len2301853

5/8/2019 11:07:07 PM

Marking scheme Rectilinear dynamic plant ECP M210 (Mass-Spring-Damper) ?Description Weight ?Introduction of the system, Brief explanation of machine ?10 ?Aims and objectives of experiment ?10 ?Identify the physical parameters of the 1DoF systems using approach described in Section 1.5 of the lab instruction. ?25 ?Plot transient responses for a system ECP210 with one trolley using Matlab script “ECP_rectiliniear_data_step_input_oneTrolley.m?” from the folder “Laboratory Experiments: Open-Loop Experiments with ECP210 and ECP205” on BB ENGT5201. ?NB: ?Enter the ‘name of file’ with the data you collected during experiment: D = readECPdata(?'name of file'?); 10

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