연세대학교 전력 및 제어공학 실험 제어파트 3주차 ELECTRIC POWER AND CONTROL ENGINEERING LAB Result-Report

소개글

연세대학교 전력 및 제어공학 실험 제어파트 3주차 ELECTRIC POWER AND CONTROL ENGINEERING LAB Result-Report에 대한 보고서 자료입니다.

목차

Chapter 7. Lead Compensator Design

Response
1. OBJECT
2. DISCUSSION


Chapter 8. Lag Compensator Design

1. OBJECT
2. DISCUSSTION

본문내용

Chapter 7. Lead Compensator Design


1.OBJECT
- Learn how to design a lead compensator based on the root locus theory.
- Observe the change of the lead compensator applied to the inverted pendulum motor.
- Carry out the position control of the inverted pendulum motor by using a lead compensator.



2. DISCUSSION
Unit feedback closed loop transfer function is as follow:

(R(s)-Y(s))*KL(s) = Y(s)
Y(s)(1+KL(s)) = KL(s)*R(s)

In order to obtain the transfer function of the inverted pendulum with the pendulum removed, we perform the following procedure.

Motor equation




< 중략 >




Chapter 8. Lag Compensator Design


1.OBJECT
- Based on the root locus theory, learn how to design the lag compensator
- After the design, observe the changes that occur when applying the lag compensator to the inverted pendulum motor.
-Perform the position control of the inverted pendulum motor using the backlash compensation.

2. DISCUSSION
As described in chapter 7, an appropriate compensator can be added to produce a response that could not exist on the existing loci. These responses are either improved transient response or improved steady state error. Especially, the lag compensator discussed in chapter 8 is mainly used to improve the steady state error.
The steady-state error is the difference between the input and the output for a given test input when sufficient time has elapsed. These test inputs are basically step input, ramp input, and parabolic input.

키워드

연세대학교,   전력및제어실험,   제어실험,   제어공학 실험,   전력실험,   제어파트,   실험결과