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Clock Simulation
Jenn Transue, Tim Murphy, and Jacob Medinilla
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Overview
Project Overview Introduction
Background
Design Specifications
Preliminary Design
Simulation
Conclusion
Project Overview
Tim Murphy
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Introduction
Clock simulation
Closed-loop position
Tracking a stepped input
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Background
12° every 2 seconds
1 complete revolution every minute
Plant transfer function:
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Design Specifications
Time domain specifications: Settling time: < 0.5 seconds
Percent overshoot: < 10%
Zero steady-state error
Variation of a PID controller
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Preliminary Design
Jenn Transue
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Preliminary Design
Response to a step input Uncompensated System
Proportional (P) Controller
Proportional Derivative (PD) Controller
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Preliminary Design – Uncompensated
Uncompensated closed-loop system: 54.6% overshoot
1.01 second settling time
Zero steady-state error
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Preliminary Design – P Controller
Root Locus Analysis: 10% Overshoot
KP = 0.102
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Preliminary Design – P Controller
Compensated closed-loop system: Kp = 0.102
9.97% overshoot
0.94 second settling time
Zero steady-state error
Cannot meet settling time specification
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Preliminary Design – PD Controller
From Specifications and Plant: Resulted in:
13.3% Overshoot
0.386 Second Settling Time
Need to adjust to achieve desired overshoot
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Preliminary Design – PD Controller
Adjusted overshoot specification in calculations
Compensated closed-loop system: Kp = 0.3895
Kd = 0.0219
10% overshoot
0.427 second settling time
Zero steady-state error
Do not need an integral component
Simulation
Jacob Medinilla
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Simulation – Pole-Zero Plot
Compensated closed-loop system
Stable
Relatively fast system
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Simulation – Model
Compensated System Response to Stepped Input
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Simulation – Results
Compensated System Response to Stepped Input
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Conclusion – Expected Challenges
Design not validated Potential for unexpected behavior
Sensitivity to controller tuning
Possibility erroneous values from previous labs
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Conclusion – Schematic
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Summary
Uncompensated System cannot meet specifications
Proportional Controller cannot meet specifications
PD Controller required Kp = 0.3895
Kd = 0.0219
Will need to adjust gains to achieve specifications in lab
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Questions?
