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(Solved): Consider the DC motor model discussed in class (Chapter 2). The parameters are L =0H,K_(r)= 0.01N(m ...
Consider the DC motor model discussed in class (Chapter 2). The parameters are L
=0H,K_(r)=
0.01N(m)/(A),b=0.025(N)/(((m)/(s))^(2)),R=4mR, and
J=0.01kgm^(2). We want to use this motor for angular position control (the output is the angle
\theta and the input is the voltage V). The task is to design a unity feedback control system. a. Derive the open loop transfer function of the motor; (2 pts) b. Design a P controller so that under a unit ramp angular position reference, the steady state error of the closed-loop system is less than 0.005 ; ( 2 pts) c. Use Matlab to find the phase margin of your closed-loop system; (2 pts) d. Prodict the OS% under step input based on the phase margin. Use Matlab to simulate the step response and compare the actual
05%with your prediction. (2 pts)
