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Report By: Lab Partner: Lab TA: Section:
Formatting. ___/
Part 1. ___/
(A). Theoretical Performance Criterion. __/
Table 1, Theoretical Values according to Fig 5. Gains 1 P1 = 0. P2 = 0 Gains 2 P1 = 0. P2 = 0. Gains 3 P1 = 0. P2 = 0. Gains 4 P1 = X.XX P2 = X.XX ς ωn Mp (%) (^) % % % % tr (s) ts (s)
(B). Experimental Performance Criterion. __/
Note that Mp, tr, ts are calculated with respect to the steady-state response, not the reference signal. Table 2, Experimental Values, Section I (Analog Computer) Gains 1 P1 = 0. P2 = 0 Gains 2 P1 = 0. P2 = 0. Gains 3 P1 = 0. P2 = 0. Gains 4 P1 = X.XX P2 = X.XX Mp (%) (^) % % % % tr (s) ts (s) Table 3, Experimental Values, Section II (WinCon) Gains 1 P1 = 0. P2 = 0 Gains 2 P1 = 0. P2 = 0. Gains 3 P1 = 0. P2 = 0. Gains 4 P1 = X.XX P2 = X.XX Mp (%) (^) % % % % tr (s) ts (s) Table 4, Experimental Values, Section III (WinCon with Friction Compensation) Gains 1 P1 = 0. P2 = 0 Gains 2 P1 = 0. P2 = 0. Gains 3 P1 = 0. P2 = 0. Gains 4 P1 = X.XX P2 = X.XX Mp (%) (^) % % % % tr (s) ts (s)
Total ___/
Compare results from Section I with those from Section II ___/
Note any differences and characteristic similarities. Should they be the same? Why would they differ?
Compare results from Section II with those from Section III ___/
Discuss especially the contribution of Coulomb friction. Note any differences and characteristic similarities. Should they be the same (how was friction modeled in the original transfer function)? Why would they differ? _Part 2. __/
Compare performance of your design to the Specs ___/
Did you meet the specifications given in the prelab? If not, suggest improvements to do so. (i.e. What gains were close – what values would be better?)
Theoretical and measured Ess ___/
Gains 1 P1 = 0. P2 = 0 Gains 2 P1 = 0. P2 = 0. Gains 3 P1 = 0. P2 = 0. Gains 4 P1 = X.XX P2 = X.XX Theoretical (^) % % % % Section I (^) % % % % Section II (^) % % % % Section III (^) % % % % Table 5, Steady-state error
Explain how unmodeled plant dynamics might cause problems ___/
What dynamics were unmodeled on the prelab? What problems could they cause?
What gain adjustments helped decrease steady-state error? ___/
Can you give a general rule for this?
