Linearising a electromechanical control system with Motor, Gear box with stiffness and PWM contoller
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Hello Matlab Experts,
I am trying to model a position control problem with simulink simscape components. The following components are used. 1. PI(s),H Bridge , controlled PWM , a comparator to generate a direction for H bridge, DC motor, Gear box, and spring representing gear box stiffness and a load as inertia ,inertia of the order of 10e6 kg*m^2, and suitable PS-S and S-PS blocks and a ideal rotational reference sensor.
2. When i try to simulate the system the system works and tracks the input with few SS error and with small oscillation. Now i am required to tune the system using PID tunning.
As i understood prior to tuning of the plant I am required to linearize the plant and the only i can apply automated PID Tuning.
I tried the linearization of the plant with system identification using simulutated I/O in the PID tunning tool box. During this i observed the instead of tracking step command the output continuously increase like a ramp. Can any one help to solve the issue ?
Regards Prima Rodrigues
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Arkadiy Turevskiy
2014-11-26
Please try to follow this example which is very similar to the workflow you are trying to use. If you run into the issues, please provide a clear and detailed explanation of what specifically is not working.
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