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Control Lab

Obtain the Simulink diagram of position control system shown in figure 1 and run the simulation. Assume the following numerical values for system constants:

r = angular displacement of reference input shaft, radians

c = angular displacement of the output shaft, radians

θ = angular displacement of the motor shaft, radians

k1 = gain of the potentiometer error detector = 24/π volt/rad

kp = amplifier gain = 10 volt/volt

ea = applied armature voltage, volt

eb = back emf, volt

Ra = armature resistance, ohms

La = armature winding inductance = negligible

ia = armature winding current, ampers

kb = back emf constant = 0.055 volt-ec/rad

k = motor torque constatnt = 0.00006 lb.ft/amp

Jm = moment of inertia of the motor = 0.00001 lb.ft.sec2

fm = viscous friction coefficient of the motor = negligible

JL = moment of inertia of the load = 0.0044 lb.ft.sec2

fL = viscous friction coefficient of the load = 0.04 lb.ft/rad/sec

n = gear ratio N1/N1 = 1/10

Note:

J = Jm + n2JL

f = fm + n2fL

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