Control and Dynamics Laboratory
Investigation of open-loop dynamic responses using Rectilinear and Torsional Apparatuses
Set up the ECP M210 system. Assemble ECP M210 system with only one trolley carrying two 500g mass blocks being connected to the left constraint by a spring with stiffness coefficient k1=800 N/m. Dashpot is not connected to the trolley in this experiment to minimize dissipative forces in the system.
Download the configuration file, default.cfg from the FileÞLoad Settings menu and the control personality file, M210-v38.pmc from the UtilityÞDownload Controller Personality File menu.
Ensure that Control Loop Status indicates "Open Loop". Otherwise, press "Abort Control" button at the down-right corner of the main screen.
• Execute a Step Input Control. Enter the Command menu and select Trajectory.
• Select Selections: Step
• Then push Setup.
• In the "Configure Step Trajectory" window ensure that "Open Loop" is checked (see box on the right).
• Set control effort = 1 V, dwell time =4,000 ms and no. of repetitions = 1.
• Exit this window by pressing OK.
• Go to the Command menu. This time select Execute and with the Normal Sample Data box checked.
• Press Run button to execute selected control input (trajectory) and wait for the data to be uploaded from the real-time Controller. You should notice a step displacement of the trolley for duration of 4 seconds and return back to initial position.
• Plot Data. Now enter the Plotting menu and choose Setup Plot. In the new window:
o Ensure that Encoder 1 and Commanded Position are appeared in the left window for plotting (in the left axis)
o Press Plot Data button. You can now see Plot window with Open Loop Step response of the system. An example of the plot is shown in
o Figure 4.
• Export Raw Data.
o Enter Data menu and choose Export Raw Data.
o Choose a path and save the text file.
o The file contains acquired data in a format suitable for reviewing, editing, or exporting to other engineering/scientific packages such as Matlab. You can recreate, analyse and process the system response there. 1 revolution = 16,000 encoder counts = 7.06 cm = 2.780 in,
Two degrees of freedom system
Identification of the 1DOF system parameters (open-loop)
Torsional dynamic plant ECP M205
One Degree of Freedom configuration plant
Experimental study: analysis of the open-loop system
Experimental study: analysis of the open-loop system Identification of the 1DoF system parameters