1) In this part you will do multiple moves of the turntable using closed loop control.
a. Define the 180° location to be one half of a rotation away from the dead zone of the potentiometer.
b. Starting at 180° after 100ms.
i. Move +50° (to 230°), then wait 500ms
ii. Move -100° (to 130°), then wait 500ms.
iii. Move +150° (to 280°), then wait 500ms
iv. Move -200° (to 80°), then wait 500ms
v. Move -50° (to 30°), then wait 500ms
vi. Move +200° (to 230°), then wait 500ms
vii. Move -150° (to 80°), then wait 500ms
viii. Move +100° (to 180°), then wait 500ms
ix. Move +270° (to 450°), then wait 500ms
x. Move -180° (to 270°), then wait 500ms
xi. Move -360° (to -90°), then wait 500ms
xii. Move +270° (to 180°), then wait 500ms
c. The criteria for arriving at set point shout be that the displacement error is less than 1.5° (0.0262 rad) and the magnitude of velocity is less than 5°/s (0.08 rad/s). Note, velocity estimates should use filtering as performed in previous assignments.
d. Optimize the motion(s) and complete them as quickly as possible and minimize overshoot.
Demonstrate closed-loop motion to TA.
Turn in plots of optimized design that show plots of displacement and velocity as a function of time
f. Change the gains to show what happens what the control gains are not-optimum.
Create a system with less damping and turn in plots.
Create a system with more damping and turn in plots.
g. Document your gains and discuss how you overcame the system friction.