To verify our motor system, we conducted an impulse response experiment and checked it against the predictions of a pendulum Simulink model with our constants plugged in:
After, we programmed the Arduino to have P control:
We then added PD control:
The velocity controller was supposed to feel like a damper. We got a damping effect, however, it was not very strong due to the fact that if we increased the derivative gain any more, the system would become unstable.
We integrated the motor system and position control with Labview. This was so that we could get an instrument with a haptic response so that it would simulate a piano key. It would play a note when the armature was pushed to a certain point and make it such that the armature would want to go back to center position:
No comments:
Post a Comment