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
el 26 de Nov. de 2014
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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