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Servo control using Sysquake. http://www.robotc.net/forums/viewtopic.php?f=32&t=7113 
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Author:  tasdew11 [ Tue Oct 29, 2013 2:40 am ] 
Post subject:  Servo control using Sysquake. 
Hello, I have to solve an exercise as a part of my course. simulation and response results has to be done in Sysquake LE. the exercise is about servo tracking control and is as follows. Investigate the following different controller designs for tracking a manually chosen constant setpoint. Open the Sysquakefile Servo.sq. The servo model described above is there controlled by the controller of the standard structure Ru = Sy + Tr When opening the file, default is manual control which means that R = T = 1 and S = 0, i.e. u = r. The reference can be manipulated with the mouse by clicking on the black circle and moving it horizontally. The red circle is the servo output. Try first to control the system manually to get the feeling for how it responds. Whenever your input is absolute less than 0.1 the servo stops. Now try automatic control designs. Click on the Setting menu and choose Controller. The present controller polynomials coefficients are then shown and you can just edit there to change controller. In the following designs you should solve polynomial equations. You may use a function for this. Open polp.sq and write in the command window > use _SQ_polp All functions within polp.sq is now available from the command window. One of these, solves the polynomial equation. It is defined as > (X,Y)=peq(A,B,C) and calculate the polynomials X and Y from the polynomial equation AX + BY = C, where A, B, C are polynomials in backwardshift representation (i.e. A = 1 + aq1 is represented as A = [1 a].) Calculate the following controllers expressed as R, S and T and input their coefficients in the Setting menu (Controller) to try them. Choose T as scalar to adjust for steadystate gain one. Comment the resulting performance. a) Pcontroller with Ac = 1 (deadbeat design). b) A controller with integral action and Ac = 1. my doubt is: I have understood that value of C should be 1 because of deadbeat control but what should be the value of A & B in command (X,Y)=peq(A,B,C). Kindly help. 
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