طراحی محیط مجازی برای کنترل موتور DC
پنج سال پیش منتشر شده
تعداد بازدید: 155
کد پروژه: 194316
شرح پروژه
The Project is mainly about designing a virtual experimental system including a controller, a DC Motor, a gearbox, an indicator link, and a scale showing 0-360 degrees. The aim is to design a PID controller and to show that precise position control of the gearbox shaft is available.
You will also obtain the mathematical model of each component, design a Simulink block diagram with Virtual Reality (VR), and make the necessary simulations of the system. So that the virtual position control system is working well.
Below, some steps that will be followed during the preparations of the project.
1. Draw your system assembly first by AutoCAD and put a 3-D figure in your Project.
2. Obtain the mathematical model and the transfer function of the DC motor including the gearbox and the link.
3. Design your closed loop control Simulink system including SimMechanics model or VR.
4. Select a brushed DC motor and combine it with a gearbox from https://www.maxongroup.com/maxon/view/content/index website address.
5. Use the necessary information given in the catalogues of the items you have selected.
6. Design an indicator so the load inertia will come from your design.
7. If there are some parameters that you cannot find the values, make a reasonable assumption and explain why you have selected that value.
8. Equivalent rotor inertia will be calculated considering the gearbox and load inertias.
9. Equivalent viscous friction will be assumed reasonably.
10. Assuming I and D gains are equal to zero, design a P controller with gain Kp so that the system will be absolute stable. Calculate the value for this proportionality gain.
11. Plot the poles on complex domain and imply that the roots are located on the left of the imaginary axis. 12. Calculate the damping ratio and also natural frequency of the motor-gearbox-load combination as explained during the lecture.
13. Draw the closed loop position control of the system on Simulink.
14. Design your system’s VR through Simulink. The following links will be useful for this purpose (there may be other sources on internet as well).
https://www.mathworks.com/videos/getting-started-with-simulink-3d-animation-part-2-builda-3d-world-in-vrml-68732.html#
https://www.mathworks.com/videos/getting-started-with-simulink-3d-animation-part-3- connect-simulink-model-with-3d-world-68733.html
https://www.mathworks.com/videos/getting-started-with-simulink-3d-animation-part-4- damped-oscillations-68734.html
15. Make the simulations of the system and make sure that VR is working properly. Whatever the reference input angular position, the indicator will be observed that it is reaching to the reference angular position properly on VR and also on MATLAB Figures.
16. Write down a report as a paper; including abstract, Introduction, Mathematical modeling, Simulations, Discussions, and Conclusions and also References sections (At least 10 references will be given). Explain what you did and how you get those results and also weak&strong sides in those sections. Implement your study with Matlab figures and Tables (Motor and gearbox characteristics etc.) necessary.
17. Attach the motor-gear box catalogs, design details, and other necessary documents in
appendix.
18. Simulink design and Matlab scripts will also be added to the report in the Appendix.
19. You will submit a Simulink (.slx) program so I am going to control your study by uploading
to the computer and running it.
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