Assignment Overview
In this assignment you will simulate the motor without any added fiction or inertia as it starts up under full voltage (12VDC). Each student will use the same system parameters and friction can be neglected. In future assignments, you will identify more accurately the motor parameters, system inertia, and friction.
Guidelines
All analysis should be done in metric units.
In code angles should be represented as radians, but output plots should be in degrees.
Plots must have units and labels for all axes.
Clarity will be considered in grading and material that cannot be easily understood will be considered wrong.
Parameter Lookup
Use the motor Spec Sheets to identify
Motor no-load speed at 12VDC in radians/sec. š¯¯ˇnoload = ?
Motor stall torque at 12 VDC in Nm. š¯¯‰stall = ?
Provided Inertia of Motor Armature: Im = 5.15E-7 Kgm2
Summary of Equations and Assumptions
In one page write out the key equations and assumptions used.
Matlab Code
Write Matlab code that simulates motion for the first 200 milliseconds. The easiest way to do this is with the Euler method. While Euler is not the most accurate, a very small step size can be used. It is optional, but one can test the accuracy using the Runge-Kutta method with ODE45.
Plots
Motor Position Output vs. Time for 200 milliseconds
Motor Velocity Output vs. Time for 200 milliseconds
References
Motor Dynamics: https://drive.google.com/open?id=0B2R9cEyGdyzyY0RMZWJtMS1PNmM
Euler Method Example for Pendulum with Large Angles of Oscillations. https://drive.google.com/open?id=0B2R9cEyGdyzyVDBhTU15eXQyVTA
Good Programming Practices. https://drive.google.com/open?id=0B2R9cEyGdyzyV2J2ODgzNHM4T2M