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The objective of this problem is to use the Ziegler and Nichol approach to develop the PID controller equations that allow an embedded system to control the DC motor presented in Exercise D13.10 (i.e., work through the steps of Exercise 13.10 for a PID system).
Exercise 13.10
The objective of this problem is to use the Ziegler and Nichol approach to develop the PI controller equations that allow an embedded system to control a DC motor. The state variable is speed, which is measured using 16-bit input capture and has a measurement resolution of 1 rpm. The input capture device driver repeatedly updates a global variable, called Speed. This 16-bit unsigned variable has units of rpm and a range of 0 to 20000. The microcontroller uses pulse-width modulation to control power to the motor. The controller software writes to a global variable, called Duty, which ranges from 0 (0%) to 10000 (100%). The following plot shows an experimental measurement obtained when Duty is changed from 2500 to 5000. The desired speed is stored in the global variable, Desired, which has the same units as Speed. Design a fixed-point PI controller that takes Speed and Desired as inputs and calculates Duty as an output. From the response graph in Figure 13.30, estimate the L and R parameters of the Ziegler and Nichol method. How often should the controller be executed? Show just the equations (no software or hardware is required), calculating Duty as a function of Speed and Desired.
Figure 13.30
Estimate the size and weight of an 1970 automobile using 1970 electronics technology which would have the equivalent computational power and electronics a typical 2013 automobile.
Two DTEs are communicating via modems and RS-232C interfaces over a half duplex link. Data transmission is one directional with each message of length M. After a message is transmitted, the sender waits for a CTS message.
Your embedded systems application requires you to implant a sensor in each of the taxiways of the airport and connect the sensor wires at the base of the ATC tower. The worst case distance is two miles.
Find H[k], the 10 point DFT of h[n] and compute the output response of the system y[n], 0 ≤ n ≤ 4, using the convolution sum.
Each limit switch has one normally open, NO, contact and onenormally closed, NC, contact. Two control relays, CR1 and CR2, areused in the gate control circuit. These relays have two NO contactsand two NC contacts. A NO pushbutton START switch is u..
In Mips when you use addi or any other commands in which you use a 16 bit value for a reg. value or address offset what operation is done to check if its is a negative number's two's complement or just a regular binary number
Electrostatic scaling: prove that electrostatic force between the two plates of a charged capacitor is a surface force (~L2); How about the stored energy under constant voltage on the capacitor (~L1, ~L2, or ~L3). What is the breakdown electric fi..
A large reel of paper installed at the end of a paper machine. d1 = 2m, J = 1000kgm^2, n1 = 60rpm, Tension on Paper = 1000N. Calculate: a. Motor power when the reel turns at 60rpm. b. Torque to increase speed to 120 rpm in 10 seconds
120V, 60 Hz source is connected to a distribution line whose resistance, and inductive reactances are 0.1Ohm, j0.2 Ohm, respectively. Single phase, 2HP, 120V, 0.75 lagging pf. motor and 2.4Kw, 120V heater is connected in parallel.
Assuming dopant atoms are uniformly distributed in a silicon crystal, how far apart are these atoms when the doping concentration is a) 10l5 cm-3, b) 1018 cm-3, c) 5times1020 cm-3. Estimate the resistivity of pure silicon in Ohm-cm
A uniform spherical shell of mass M = 15.0 kg and radius R = 0.370 m can rotate about a vertical axis on frictionless bearings. A massless cord passes around the equator of the shell, over a pulley of rotational inertia I = 0.170 kg·m2 and radius ..
With the switch, S1, open in Fig, How much is the voltage across the switch? How much is the voltage across the lamp?
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