MATLAB

DEPARTMENT OF MECHANICAL & AEROSPACE ENGINEERING

Pro-forma to accompany assignment / coursework 2019/2020

Module Code: MN5552 Module Leader: Xinli Du Assessor: Xinli Du

Module Title: Robotics and Manufacturing Automation

Assessment Title: MATLAB controller design Weighting: 30%

Main objectives of the assessment: To obtain an understanding of controller design using MATLAB.

Brief Description of the assessment: The work will model a system and design controllers for it.

Learning outcomes for the assessment: • Knowledge of system modelling and controller design

• Knowledge of MATLAB and Simulink programming

Assessment and marking criteria The students will be required to: Submit a report, which meets objectives, format

and deadline.

Assessment method by which a student can demonstrate learning outcomes: One single written report

Format for the assessment/coursework (Guidelines on the expected format and length of submission): The maximum page limit is 8. Graphs and tables may be attached in the appendix, for which there is no page

limit. The maximum text size is 12. Please use single line spacing.

Assessment date/submission deadline:

Please submit online a single file via WISEflow module assessment – student id on front page. Contact your Course Administrator if queries. Note: automatic plagiarism checks are made Indicative Reading List: MATLAB tutorial notes Lecture notes for modelling, transfer function, controller design, and state space representation.

Further information: The work submitted must be student’s own interpretation of the data, based on own visit to the laboratory. No images/data from other sources including books and WWW are necessary and should not be included in the report; if done so will be excluded from marking.

Assessment date/submission deadline:

Please submit online a single file via WISEflow module assessment tab– student id on front page.

Contact your Course Administrator if queries. Note: automatic plagiarism checks are made

MARKING CRITERIA

[80‐100]: In addition to [70‐79], additional marks will be awarded to the quality of explanations of the controller design progress and performance analysis. For example, explanation of changing controller parameters and principle of the controller chosen.

[70‐79]: All MATLAB programs and results are correct. Details of the controller design are provided and good analysis of the controller performance.

[60‐69]: The MATLAB programs and results related to majority of tasks are correct and correct. Details of the controller design progress are provided.

[50‐59]: The MATLAB programs and results related to over half of tasks are correct.

[40‐49]: The MATLAB programs and results related to 1/3 of tasks are correct.

[30‐39]: The programs fail to execute and the presented results are incorrect. However, some good efforts have been made to complete all tasks. Some progress is presented.

[0‐29]: Suitable marks will be given based on the answers produced and the effort made.

DC motor controller design

Consider a DC motor with following parameters:

𝑱 = 𝟎.𝟎𝟏𝟏𝟑 𝑲𝒈 ∗ 𝒎𝟐/𝒔

𝒃 = 𝟎.𝟎𝟐𝟖 𝑵𝒎𝒔

𝑳 = 𝟎.𝟏 𝑯

𝑹 = 𝟎.𝟒𝟓 𝑶𝒉𝒎

𝑲𝒕 = 𝟎.𝟎𝟔𝟕 𝑵𝒎/𝑨𝒎𝒑

𝑲𝒆 = 𝟎.𝟎𝟔𝟕 𝑽𝒔/𝒓𝒂𝒅

Consider the rotation speed is the output of the DC motor.

P1. Please provide transfer function and state space model of a DC motor and plot block diagram. The input to the system is the applied voltage. The output of the system is the rotation speed of the motor. (10%)

P2. In MATLAB, plot the step response of the provided DC motor, using both the transfer function and state space model. Please provide MATLAB code or a Simulink model. (10%)

P3. In MATLAB, please design a P, PI and PID controller of the provided DC motor. Please compare the results of different controller and different parameters used of the controller, i.e. compare rising time, settling time, steady state error, overshoot, etc. Please provide MATLAB code or a Simulink model. (40%)

P4. Please design a state feedback controller of the provided DC motor. Please provide the design progress, and the step response of the designed controller. Please analysis the step response of the designed controller. (40%)