ENME 585 Lab 05 Submission (Allen Okanovic, Ayman Malkawi and Joshua Ellis)
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University of the Fraser Valley *
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Electrical Engineering
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Apr 3, 2024
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ENME 585 Fall 2022 Lab 05 – Frequency Response of a DC Motor Lab Submission Form
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YOUR GROUP INFORMATION Lab section
: Date: B06 December 1, 2023
Laptop #
: Hardware #
: 2 6 First Name 1: Allen Last Name 1: Okanovic First Name 2: Ayman Last Name 2: Malkawi First Name 3: Joshua Last Name 3: Ellis YOUR FEEDBACK A. How would you rate the difficulty of this lab? Medium B. Were there any aspects of this lab that you struggled with or found confusing? If so, which? Type here. C. How long did it take you/your group to do the lab, including finishing this submission form? 2 and a half hours. D. Suggest improvements, if any. Type here.
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QUESTIONS: 1 – Motor Frequency Response (12/30 marks)
Q1.
Find the speed amplitude M at this (small) input frequency of 𝜔 = 0.1 𝜔
and divide M by the input amplitude (4V) to find the gain at this frequency. How does it compare to the dc gain c found in Lab 1?
Parameter Value Comparison to DC Gain? Gain
24.2517
The values closely match (this value is 2 rad/sec higher than the dc gain in lab 1). Sample Calculation: Mag. = ଽ.଼ହଵି(ଽ.ଵହ)
ଶ
= 97.0045
Gain = ଽ.ସହ)
ସ
= 24.2517 [
ೝೌ
ೞ
]
Q2.
Include the plot with appropriate data points marked below. Find the speed magnitude M at the frequency 𝜔 = 𝜔
and divide by 4V to find the gain. How does it compare with that predicted from theory in Prelab Question 1?
Parameter Value Comparison to Prelab Q1? Gain
17.6813
Values is a little bit higher than the predicted gain from Prelab question 1.
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Q3.
Record the time delay 𝑇
at this frequency of 𝜔
. Also measure and record the period 𝑇
between two input (or two output) peaks. Does 𝑇 = 2𝜋/𝜔
, as expected? Use equation (8) to find the experimental phase shift. How does this compare with the theoretical phase shift predicted in prelab Question 2? Parameter Value Comparison to Prelab or Expected Value? 𝑇
[s]
0.1227
Close to expected value of 0.121s. 𝑇
[s] 0.972 Close to expected value of 0.968s. 𝜙
[deg] -45.432 Close to expected value of -45 degrees. Sample Calculation: Reference Output Difference Wave 1 4.474 4.352 0.122 Wave 2 5.440 5.310 0.130 Wave 3 6.410 6.294 0.116 Average 0.1227 Q4.
Find the speed magnitude M at the frequency 10𝜔
and divide by 4V to find the gain. How does it compare with the theoretical magnitude at this frequency, found from equation (5)? Is the phase shift near the -90-
degree limit expected at high frequencies? Parameter Value Comparison to Theoretical? Gain
2.855
Experimental value is higher than the theoretical value (0.59 rad/s higher than the theoretical). The phase shift is approaching -90 degrees as the frequency increases. QUESTIONS: 2 – Frequency Response of Proportional Position Control (12/30 marks)
Q5.
What is the output magnitude M at an input frequency 𝟎. 𝟏 𝝎
𝒏
? How does this compare with the dc gain |𝑇
ఏ
(0)|
obtained from Prelab Question 9? Does the observed phase shift approximately equal ∠𝑇
ఏ
(0) =
0 degrees?
Parameter Value Comparison to Prelab or Expected Value? Magnitude M
0.959
There is 4% difference between the experimental and theoretical value. ∠𝑇
ఏ
(0) = 0
0.0 The observed phase shift on our plot is very close to the expected value of zero. The reference and output are at the same amplitude.
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Q6.
For 𝜔 = 𝜔
, insert the response plot below with appropriate data points marked. Record the position magnitude M at this input frequency. How does it compare with the magnitude predicted from theory in Prelab Question 10? Parameter Value Comparison to Prelab or Expected Value? Magnitude M
1.161
The experimental value, when compared to the theoretical value, was a percent error of 4%. Q7.
Record the time delay 𝑇
at this frequency, the period T between two input peaks, and the resulting phase shift at the frequency 𝜔 = 𝜔
. Does this experimental phase shift agree with the theoretical phase shift you predicted in Prelab Question 10?
Parameter Value Comparison to Prelab or Expected Value? 𝑇
(s)
0.017
N/A T (s) 0.27 N/A 𝜙
(deg) -22.22 The phase shift does not agree with prelab question 10 since the experimental value compared to the theoretical yields us 16% error.
Page 6
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Page 7
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QUESTIONS: 2 – Frequency Response of a Pendulum (6/30 marks)
Q8.
Record the natural frequency 𝜔
of pendulum oscillations below. Also record the time it takes for the pendulum to stop swinging. Parameter Value 𝜔
(rad/s)
10.65
Time to Settle (s) 19.912 Q9.
For a motor voltage frequency of 𝜔 = 𝜔
insert the response plot below, with the appropriate data points marked. Record the magnitude 𝑀
of the pendulum angle. Is it much greater than the input angle of 0.1 rad (i.e., is resonance observed)? What factors may limit the resonance? Parameter Value Greater than 0.1? Why is it limited? Magnitude 𝑀
0.811
Yes it is greater than 0.1 so resonance is observed. Factors that can limit the resonance are the friction and damping of the motor.
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