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This 11 page Class Notes was uploaded by Jada Daniel on Wednesday September 23, 2015. The Class Notes belongs to MEM351 at Drexel University taught by Staff in Fall. Since its upload, it has received 24 views. For similar materials see /class/212405/mem351-drexel-university in Mechanical Engineering at Drexel University.
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Date Created: 09/23/15
9159 Today s Outline Attendance Syllabus Weekly Schedule Lecture Lab Group Formation 3amp3ng E j t vg H MEN 351i Dynamic Systems Lab Fuzzy Control How Do We Achieve This System Modeling Simulation Dynamic equations of motion System Identification Control theory background review Transfer functions poles amp zeros state space Result is a model of system Test different input responses controllers disturbance reactions etc Implementation Software ie LabVlEW Sensors ie optical encoders System Modeling Dynamic Equations of Motion Linearized 2nd order differential equation assumes small angles L Bar length m d Pivot to CG distance m mL Mass of pendulum kg J Moment of Inertia kgm2 Nms C Viscous damping coefficient rad System Modeling System Identi cation Used to identify system parameters such as damping ratio C natural frequency 03quot and damping coefficient c The Damped Compound Pendulum A Second Order System System Modeling System Identification Used to identify system parameters such as damping ratio Q natural frequency can and damping coefficient c 9 Zgwn 0036 0 2 f 1n g2 iiln X 3A 5 1 Iligz N XNH 2 wn 172 38 T System Modeling System Identification Match coefficients of equations 1 and 2 mL gd 0 2gwn wji90 Yields a MG gal 4A 0 260quot 4B Now we can model our system als new gt 5n lia igil l Hardware Implementation System 1 PC amp NlDAQ Board 2 Motor Amp 3 Optical Encoder 4 Motorized Propeller Cnmrmler quotHMO Pclrsnzsi nr usa snnn Optical Encoder q 39 r r A Asensnr Bse arr x A t Motorprop Incremental optical encoders generate two data signals that are electrically 90 out of phase With each other The term quadrature refers to this 90 phase relationship 4 l CCW CW CCW AB CW AB I From To From To A 10 1 1 10 00 00 10 00 01 B 01 00 01 11 Ian M m 11 In an 01 n m on m u m m 39 11 01 11 00 SnrhWN Today s Outline Attendance Syllabus Weekly Schedule Lecture Lab Group Formation Initial Survey
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