EXPERIMENT #2

Rectilinear Control System

Introduction: This classical plant is readily transformed into the variety of configuration shown below. It serves to vividly demonstrate both lumped parameter dynamics and generic control issues. This system appears commonly in dynamics and controls text books and serves as a benchmark for control method evaluation. The mechanism features adjustable masses, interchangeable springs and adjustable air damping. Its dynamic properties are generally the rectilinear equivalent of those of the Torsional Apparatus with additional parameter adjustment capability. As with Model 205, this system provides vivid demonstrations of elementary topics such as rigid body PID control, lead/lag compensators, phase and gain margin, trajectory tracking, and regulation-as well as advanced high order collocated and noncollocated system control. The two apparatuses also clearly demonstrate salient properties of flexible systems such as mode shapes, natural frequencies, and characteristic transient and frequency responses. An optional secondary drive may be positioned at any output (mass carriage) to create a MIMO plant and provide for the study of disturbance rejection.

Figure: 1 (Model 210 Rectilinear Plant)

The Model 210 holds three mass carriages which can be loaded with brass weights and connected in a variety of configurations using springs of varying stiffness. The adjustable dashpot can be used to provide damping for the system. A single drive motor provides actuation to the system via the first mass carriage, and position measurements are taken by quadrature encoders.

This report was made with the help of other students and with the help of my supervisor and it is basic of rectilinear control system plant identification (model 210). This report is related to those of (Torsional system). The equations and the procedure are the same way but now we have a mass than disk. The purpose of this report is to identify the plant parameters, implement a variety of control schemes, and demonstrate many important control principles. This report includes experiments, which will be executed, analyzed and also mathematical equations. The user to be done this experiments must be familiar with the (model 210), how is work and to read or remember from the last years about control systems to have the ability to solve the equations. The model to be work needs I/O electronic unit connected with a computer that is able to show the data and the waveform from each encoder. Finally the user must save the data and control configuration files to avoid any problems with the procedure. Experiment: A (system identification) Procedure: Step: 1 Clamp the second mass to put the mechanism in the configuration shown in Figure 1a using a shim (i.e. inch nut) between the stop tab and stop bumper so as not to engage the limit switch. Verify that the medium stiffness spring (nominally 400 N/m (2.25 1b/in.)) is connecting the first and second mass carriages. Step: 2 Secure four 500g masses on the first and second mass carriages. Step: 3 With the controller powered up, enter the Control Algorithm box via the Set-up menu and set Ts = 0.00442. Enter the Command menu, go to Trajectory and select step, Set-up. Select Open Loop Step and input a step size of 0 (zero), a duration of 3000 ms and 1

repetition. Exit to the background screen by consecutively selecting OK. This puts the controller in a mode for acquiring 6 sec of data on command but without driving the actuator. This procedure may be repeated and the duration adjusted to vary the data acquisition period.

a) Setup to begin Plant Identification Procedure

b) Second Setup in Plant Identification Procedure

c) Third Setup in Plant Identification Procedure Figure: 2 Configurations for Plant Identification (model 210a. Four 500g weights on each active carriage.) Step: 4 Go to Set up Data Acquisition in the Data menu and select Encoder # 1 and Encoder # 2 as data to acquire and specify data sampling every 2 (two) servo cycles (i.e. every 2 T ss). Select OK to exit. Select Zero Position from the Utility menu to zero the encoder positions. Step: 5 Select Execute from the Command menu. Prepare to manually displace the first mass carriage approximately 2.5 cm. Exercise caution in displacing the carriage so as not to engage the travel limit switch. With the first mass displaced approximately 2.5 cm in either direction, select Run from the Execute box and release the mass approximately 1 second later. The mass will oscillate and attenuate while encoder data is collected to record this response. Select OK after data is uploaded. Step: 6 Select Set-up Plot from the Plotting menu and choose Encoder # 1 Position then select Plot Data from the Plotting menu. You will see the first mass time response. 5

Figure: 3 (encoder # 1 & # 2 loaded) Step: 7 Choose several consecutive cycles (say ~5) in the amplitude range between 5500 and 1000 counts (this is representative of oscillation amplitudes during later closed loop control maneuvers. Much smaller amplitude responses become dominated by nonlinear friction effects and do not reflect the salient system dynamics). We choose, t1 = 0.336 seconds 304 counts from TABLE 1 t2 = 1.443 seconds 2 counts from TABLE 1

so the number of the cycles between t1 and t2 is n = 2 cycles Divide the number of cycles by the time taken to complete them being sure to take beginning and end times from the same phase of the respective cycles. f = n/(t2-t1) f =frequency (Hz)

f = 2/(1.443-0.336) f = 1.806 Hz Convert the resulting frequency in Hz to radians/sec. this damped frequency, approximates the natural frequency, n, according to:
d m11
2 1 m 11

d,

n m11 =

d m11

(for small m11 ) Equation: 1

n n

m11

= 2..f = 2..1.806 => nm11 = 11.34 rad/sec

m11

where the m11 subscript denotes mass # 1 , trial # 1. (close the graph window by clicking on the left button in the upper right hand corner of the graph. This will collapse the graph to icon from where it may later be brought back up by double-clicking on it.)

step: 8 Remove the four masses from the first mass carriage and repeat step 5 through 7 to obtain

n m12 for the unloaded carriage. If necessary, repeat step 3 to reduce the execution
(data sampling only in this case) duration.

Figure: 4 ( encoder # 1 unloaded)

We choose, t1 = 0.053 seconds 508 counts from TABLE 2 t2 = 0.717 seconds 160 counts from TABLE 2 so the number of the cycles between t1 and t2 is n = 2 cycles

Divide the number of cycles by the time taken to complete them being sure to take beginning and end times from the same phase of the respective harmonic cycles. f = n/(t2-t1) f = 2/(0.717-0.053) f = 3.01 Hz From equation 1: f = frequency (Hz)

n n

m12

= 2..f = 2..3.01 => nm12 = 18.91 rad/sec 8

m12

Step: 9 Measure the initial cycle amplitude Xo and the last cycle amplitude Xn for the n cycles measured in step 8. Using relationships associated with the logarithmic decrement:

m12
1
2 m12

1 1 Xo Xo ln ln m12 2n Xn 2n Xn

(for small m12 ) Equation: 2

find the damping ratio m12 and show that for this small value the approximations of equations 1 & 2 are valid.

Xo = 508 counts => for t1, from TABLE 2 Xn = 160 counts => for t2, from TABLE 2

Xo = (cycle amplitude) Xn = (cycle amplitude)

Number of the cycles between t1 and t2 is n = 2 cycles m12 = 1/2n * ln(Xo/ Xn) m12 = 1/12.56 *ln (508/160) m12 = 0.091

n
=

m11

dm11
1 m11 2

dm11

=>

m11

11.34 1 0.0912

11.34 1 0.0082

11.34 =11.38 0.996

The approximation of the Equation 1 and 2 are valid because the damping ratio d32 is very small and it is not affect the result.

n dm11
m11

Step: 10

Repeat step 5 through 9 for the second mass carriage (Figure 1b). Here in step 6 you will need to remove Encoder #1 position and add Encoder #2 position to the plot set-up.

Figure: 5 (load encoder # 2)

Hence obtain nm21, nm22, m22. How does this damping ratio compare with that for the first mass? This damping ratio is approximately 13 times lower than the damping ratio that we found in step: 9 We choose, t1 = 0.142 seconds 423 counts from TABLE 3 t2 = 1.213 seconds 388 counts from TABLE 3 so the number of the cycles between t1 and t2 is n = 2 cycles f = n/(t2-t1) f = frequency (Hz)

10

f = 2/(1.213-0.142) f = 1.867 Hz From equation 1:

n n

m21

= 2..f = 2..1.867 => nm21 = 11.73 rad/sec

m21

Xo = 423 counts => for t1, from TABLE 3 Xn = 388 counts => for t2, from TABLE 3

Xo = (cycle amplitude) Xn = (cycle amplitude)

Number of the cycles between t1 and t2 is n = 9 cycles m21 = 1/2n * ln(Xo/ Xn) m21 = 1/12.56 * ln(423/388) m21 = 0.0068

Figure: 6 (unloaded encoder # 2)

We choose,

11

t1 = 0.044 seconds 449 counts from TABLE 4 t2 = 0.602 seconds 1626 counts from TABLE 4 so the number of the cycles between t1 and t2 is n = 2 cycles f = n/(t2-t1) f = 2/(0.602-0.044) f = 3.58 Hz From equation 1: f = frequency (Hz)

n n

m22

= 2..f = 2..3.58 => nm22 = 22.49 rad/sec

m22

Xo = 1626 counts => for t1, from TABLE 4 Xn = 449 counts => for t2, from TABLE 4

Xo = (cycle amplitude) Xn = (cycle amplitude)

Number of the cycles between t1 and t2 is n = 2 cycles m22 = 1/2n * ln(Xo/ Xn) m22 = 1/12.56 * ln(1626/449) m22 = 0.101 step: 11 Connect the mass carriage extension bracket and dashpot to the second mass as shown in figure 1c. Open the damping (air flow) adjustment knob 2.0 turns from the fully closed position. Repeat step 5, 6, and 9 with four 500g masses on the second carriage and using only amplitudes 500 counts in your damping ratio calculation. Hence obtain d where the d subscript denotes dashpot.

12

Figure: 7 (encoder # 2 with dashpot & medium stiffness)

We choose, t1 = 0.177 seconds 121 counts from TABLE 5 t2 = 0.425 seconds 25 counts from TABLE 5

so the number of the cycles between t1 and t2 is n = 0.5 cycles f = n/(t2-t1) f = frequency (Hz)

f = 0.5/(0.425-0.177) f = 2.016 Hz From equation 1:

d = 2..f d = 2..2.016 => d = 12.66 rad/sec

13

Xo = 121 counts => for t1, from TABLE 5 Xn = 25 counts => for t2, from TABLE 5

Xo = (cycle amplitude) Xn = (cycle amplitude)

Number of the cycles between t1 and t2 is n = 0.5 cycles m21 = 1/2n * ln(Xo/ Xn) m21 = 1/3.14 * ln(121/25) m21 = 0.50 Step: 12 Each brass weight has a mass of 500 10g. (you may weight the pieces if a more precise value is desired). Calling the mass of the four weights combined m w, use the following relationships to solve for the unloaded carriage mass mc2, and spring constant k.
m w = 4 500 = 2kg

K/ (mw + mc2) =nm212

Equation: 3

K/mc2 = nm222

Equation: 4

nm 22 nm 21

2 2

/ k 2 mc 2 nm 22 mc 2 = = 2 / k m w + mc 2 nm 21 m w + mc 2

nm 21 mc 2 = nm 22 ( m w + mc 2 )
2 2

other way

nm 22 nm 21

2 2

mw +1 mc 2

nm 21 mc 2 = nm 22 m w + nm 22 mc 2
2 2 2

other way

nm 22 nm 21

2 2

1=

mw mc 2

14

 nm 21 m c 2 nm 22 m c 2 = nm 22 m w
2 2 2

other way

nm 22 nm 21

2 2

nm 21 nm 21
2

2 2

=
2

mw mc 2 mw mc 2

mc 2 nm 21 nm 22 = nm 22 m w

other way

nm 22 nm 21 nm 21

mc 2 =

nm 22 m w nm 21 nm 22
2 2

other way mc 2 =

m w nm 21
2

2 2

nm 22 nm 21

mc 2 = 2.74 kg

other way m c 2 = 0.74 kg

we take the other way m c 2 = 0.74 kg

nm 22 = 22.49 rad/sec
k = 374.29 N/m

find the damping coefficient cm2 by equating the first order terms in the equation form:

2 s 2 + 2 n s + n = s 2 + (c / m ) s + k / m

Equation: 5 from this equation,

2n s = ( c / m ) s
2 m 22 nm 22 m c 2 = c m 2
2 0.101 22.49 0.74 = c m 2

c m 2 = 3.36 N/Ms

repeat the above for the first mass carriage, spring and damping m c1, cm1 and k respectively. Calculate the damping coefficient of the dashpot, cd.

15

 nm12 nm11

2 2

/ k 2 m c1 mc1 = nm12 2 = k / m w + m c1 nm11 m w + m c1

nm11 mc1 = nm12 ( m w + mc1 )

2 2

other way

nm12 nm11

2 2

mw +1 mc1

nm11 mc1 = nm12 m w + nm12 m c1

2 2 2

other way

nm12 nm11

2 2

1=

mw mc1
2 2

nm11 mc1 nm12 mc1 = nm12 m w

2 2 2

other way

nm12 nm11

2 2

nm11 nm11
2

=
2

mw mc1 mw mc1

mc1 nm11 nm12 = nm12 m w

other way

nm12 nm11 nm11

mc1 =

nm12 m w nm11 nm12

2 2

other way m c1 =

m w nm11
2

2 2

nm12 nm11

m c1 = 3.13 kg

other way mc1 = 1.13 kg

we take the other way m c1 =1.13 kg

nm12 =18.91 rad/sec
k = 404.07 N/m

from equation 3,
2n s = ( c / m ) s
2 m12 nm12 m c1 = c m1
2 0.091 18.91 1.13 = c m1

16

c m1 = 3.88 N/Ms

Step: 13 Remove the carriage extension bracket and dashpot from the second mass carriage, replace the medium stiffness spring with a high stiffness spring (800 N/m nominally), and repeat step 5 and 6 to obtain the resulting natural frequency m 23 .

Figure: 8 (encoder # 1 loaded with high stiffness)

We choose, t1 = 0.097 seconds 130 t2 = 0.283 seconds 402 counts from TABLE 6 counts from TABLE 6

so the number of the cycles between t1 and t2 is n = 1 cycles f = n/(t2-t1) f = 1/(0.283-0.097) 17 f = frequency (Hz)

f = 5.37 Hz From equation 1:

m23

= 2..f = 2..5.37 => m23 = 33.74 rad/sec

m23

Repeat this frequency measurement using the least stiff spring (nominally 200 N/m) to obtain m 24 .

Figure: 9 (encoder # 1 with low stiffness)

We choose, t1 = 0.097 seconds 680 t2 = 0.390 seconds 299 counts from TABLE 7 counts from TABLE 7

so the number of the cycles between t1 and t2 is n = 1 cycles f = n/(t2-t1) f = frequency (Hz)

18

f = 1/(0.390-0.097) f = 3.41 Hz From equation 1:

m24

= 2..f = 2..3.41 => m24 = 21.42 rad/sec

m24

Calling the value of stiffness obtained in step 12 above kmed stiffness, calculate khigh stiffness and klow stiffness from the frequency measurement of this step.

klow stiffness

= mc 2 m 24 = 0.74 21.42 2 = 339.52

2

N/m

khigh stiffness kmed stiffness

= mc 2 m 23 = 0.74 33.74 2 = 842.40 N/m = mc 2 m 22 = 0.74 22.49 2 = 374.29

2

N/m

Now all dynamics parameters have been identified! Values for m 1 and m2 for any configuration of masses may be found by adding the calculated mass contribution of the weights to that of the unloaded carriages. The following is necessary to establish the hardware gain for control modeling purposes. Procedure: Step: 14 Remove the spring connecting the first and second masses and secure four 500g masses on the first mass carriage. (you should libel this particular spring so that the identified parameter k2 will be consistent when used in later experiments). Use the limit clamps to secure the second mass clear from the first. Verify that the masses are secure and that the

19

carriage slides freely. Hook up the drive power to the mechanism. Position the first mass approximately 3cm to the left (negative x1 position) of its center of travel.

Figure: 10 (encoder # 1 loaded)

Step: 15 In the Trajectory window deselect unidirectional moves (i.e. enabling bi-directional inputs) select Step, Set-up. Choose Open Loop Step, and input 2.00 Volts, 75 ms, 2 reps. Execute this open loop step via the execute menu. (this move may trip a software speed limit which disables the controller indicated by limit exceeded in the Controller Status box in the desk top. Again to reset, simply reselect Execute from the Execute menu.) Go to Set-up in the Plot Data menu and select Encoder # 1 velocity for plotting.

20

Figure: 11 (encoder # 1 positive-sloped)

Figure: 12 (encoder # 1 negative-sloped)

21

Step: 16 Plot this data and observe four velocity profile segments with nominal shapes of : linear increase (constant acceleration), constant (zero acceleration), linear decrease (deceleration), and constant. Obtain the acceleration,

x 1e, (counts/s2) by carefully

measuring the velocity difference and dividing by the time difference (75ms) through the positive-sloped segment. Calculate the average magnitude of the positive and negative accelerations for use in obtaining khw below. The acceleration,
26000 = 34666.66 counts/s2 .075 41000 = 546666.66 counts/s2 .075

For positive linear segment = For negative linear segment= Therefore X 1e =

34666.66 + 546666.66 2

= 290666.66 counts/s2 Step: 17 Save any files or plots of interest. Exit the executive program and power down the system.

Conclusion: From the experiments that we have done we identified the plants parameters and also there are some results between the damping frequency and the damping ratio. As we can see in step 8 #3 and step 10 #2 (for the unloaded carriage the damping frequency are almost the same) and in step 6 #3 and step 10 #2 the (damping frequency are almost the same). The damping frequency for the first or second mass of unloaded cases is approximately the double in the cases of loaded mass. The mechanical connection of former with the motor causes frictional forces to act on it and therefore, the damping ratio of the first mass is more than the second mass. In the cases where a dashpot is connected

22

the damping frequency is decreased because of the forces that acting on the mass carriage. Transfer function calculation: The so-called hardware gain, Khw, of the system is comprised of the product:

Khw = kckaktkmpkekepks Where, Kc = the DAC gain, = 10V / 32.768 DAC counts Ka = the Servo Amp gain, = approx. 2 (amp/V) Kt = the Servo Motor Torque constant = approx. 0.1 (N-m/amp) Kmp = the Motor Pinion pitch radius inverse = 26.25 m-1 Ke = the Encoder gain = 16.000 pulses / 2 radians Kep= the Encoder Pinion pitch radius inverse = 89 m-1 Ks = the Controller Software gain = 32 (controller counts / encoder or ref input counts)
10 16 2 0.1 26.25 32 89 = 11.625.10 3 32.768 2

khw =

11.625.103 In step 15, we obtained the acceleration X 1e (counts/s2) of a known inertia, m1 = mw + mc1 with a known voltage applied at the DAC. This relates to the applied force during the acceleration according to: Applied Force = m1 x1 = m1 x1e / ( k e k ep ) And we have a direct measurement of the five-term product kaktkmpkekep. i.e:

23

2.00V kaktkmp = Applied Force in step 15 Experiment: B (Rigid Body PD & PID Control) The experiments demonstrates some key concepts associated with proportional plus derivative (PD) control and subsequently the effects of adding integral action (PID). The system is using two steel shafts of different stiffness each one, as springs. This control scheme it is used in such diverse areas as machine tools, automobiles and spacecraft, because is acting on plants modeled as rigid bodies. The diagram for forward path PID control of a rigid body is shown in Figure: 13a. Figure: 13b shows the case when the derivatives term is in the return path. The experiment: B includes 10 steps.

The close loop transfer functions for the respective cases are:

c( s ) =

( k hw / m ) k d s 2 + k p s + k i x( s ) = 3 r ( s ) s + ( k hw / m ) k d s 2 + k p s + k i

equation: 6

c( s ) =

( k hw / m ) ( k p s + k i ) x( s ) = 3 r ( s ) s + ( k hw / m ) k d s 2 + k p s + k i

equation: 7

24

Figure: 13 (Rigid body PID control-control block diagram)

For the first portion of this exercise we shall consider PD control only (k i = 0). For the case of kd in the return path the transfer function reduces to:

c( s ) =

( k hw / m ) ( k d s + k p ) + ( k hw / m ) ( k d s + k p )

Equation: 8

25

by defining:
n =
k p k hw m

k d k hw 2mn

k d k hw 2 mk p k hw

we may express:

c( s ) =

n2 s 2 + 2 n s + n2

Equation: 9

the effect of kp and kd on the roots of the denominator (damped second order oscillator) of c(s) is studied in the work that follows.

Procedure: (Proportional & Derivative Control Actions) Step: 1 Using the result of experiment A construct a model of the plant with four 500g mass pieces on the first mass carriage with no springs or damper attached. You may neglect friction. Step: 2 Set-up the plant in the configuration described in Step 1. There should be no springs or damper connected to the first carriage and the other carriages should be secured away from the range of motion of the first carriage.

26

Step: 3 From Eq n determine the value of k p (kd = 0) so that the system behaves like a spring-mass oscillator.
2 Hz

n m 8.88 2 2.74 kp = = = 0.0000185 kh 11625 10 3

Step:4 Set-up to collect Encoder #1 and Commanded Position information via the Set-up Data Acquisition box in the Data menu. Set-up a closed-loop step of 0 (zero) counts, dwell time = 3000ms, and 1 (one) rep (Trajectory in the Command menu). Step:5 Enter the Control Algorithm box under Set-up and set Ts = 0.00442 s and select Continuous Time Control. Select PID and set-up Algorithm. Enter the k p value determined above for
2 Hz oscillation (kd & ki = 0, do not input values greater than

kp = 0.08) and select OK. Place the first mass carriage at approximate the-0.5 cm (negative is toward the motor) mark. In this and all future work, be sure to stay clear of the mechanism before doing the next step. Selecting implement Algorithm immediately implements the specified controller; if there is an instability or large control signal, the plant may react violently. If the system appears stable after implementing the controller, first displace the disk with a light, non sharp object (e.g. a plastic ruler) to verify stability prior to touching plant Select Implement Algorithm, then OK.

27

Step:6 Select Execute under Command. Prepare to manually displace the mass carriage roughly 2 cm. Select Run, displace the mass approximately 3 cm and release it. Do not hold the mass position for longer than about 1 second as this may cause the motor drive thermal protection to open the control loop. step:7 Plot encoder #1 output. Determine the frequency of oscillation. What will happen when proportional gain, kp, is doubled? Repeat Steps 5 & 6 and verify your prediction. (Again, for system stability, do not input values greater than kp = 0.06).

Figure: 14 (encoder # 1 kp value)

kp = double => kp = 0.0000185 2 = 0.0000371

28

Figure: 15 (encoder # 1 kp double value)

step:8 Determine the value of the derivative gain, kd, to achieve kdkhw = 50N/(m/s). Repeat step 5, except input the above value for k d and set kp & ki = 0. (do not input values greater than kd = 0.04)
khw = 11625 .10 3 kd khw = 50 50 => kd = 0.00430.10 3 = 0.0000043 11625 3

kd =

k d k hw 2mn

k d k hw 2 mk p k hw

0.0000043 11625.10 3 2 m 0 11625.10

3

= 0.0000043 11625.10 3 = 49.98

29

Figure: 16 (encoder # 1 kd value)

step:9 After checking the system for stability by displacing it with a ruler, manually move the mass back and forth to feel the effect of viscous damping provided by k d. Do not excessively coerce the mass as this will again cause the motor drive thermal protection to open the control loop. Step:10 Repeat step 8 & 9 for a value of kd fives times as large (Again k d 0.04 ). Can you feel the increased damping?

kd 5 = 0.0000043 5 = 0.0000215

khw = 11625.103 , kb = 0

30

k d k hw 2mn

k d k hw 2 mk p k hw

0.0000215 11625.10 3 2 m 0 11625.10

3

= 0.0000215 11625.10 3 = 249.9

By multiplying the kd 5 times we can see that the damping increased 5 times because in this case we have the kb=0. So ,
= k d k hw

Figure: 17 (encoder # 1 kd value five time larger)

Conclusion: As we can see in this experiment the PI & PID Control are found commonly in application and also the effect of kp and kd on the roots of the denominator. Because we

31

use the PI & PID we have to do with the gain of controls. The equations of closed loop transfer function that we found in these two cases, the proportional and derivative gains played important rule for resulting value and scheme. In the procedure of the experiment and specific in step: 7 we can see that if we doubled the value of proportional gain do not affect the result as well as the case of multiplying the derivative gain five times as large in step: 10. Finally in this experiment we can see the behavior of the second ordersystem.

32

EXERIMENT: A TABLE: 1 (DATA FROM STEP: 6) Sample 38 39 40 41 42 43 44 45 46 47 time 0.336 0.345 0.354 0.363 0.372 0.381 0.390 0.398 0.407 0.416 encoder # 1 pos 304 637 957 1263 1553 1821 2069 2293 2489 2656

. . . . .
163 164 165 166 167 168 169 170

. . . . .
1.443 1.452 1.461 1.470 1.479 1.488 1.496 1.505

. . . . .
2 38 72 103 131 155 176 193 33

171 172

1.514 1.523

206 215

EXERIMENT: A TABLE: 2 (DATA FROM STEP: 8) Sample 6 7 8 9 10 11 12 13 14 15 time 0.053 0.062 0.071 0.080 0.089 0.097 0.106 0.115 0.124 0.133 encoder # 1 pos 508 972 1388 1744 2027 2230 2344 2370 2308 2168

. . . . .
76 77 78 79 80 81 82 83 84

. . . . .
0.673 0.682 0.691 0.699 0.708 0.717 0.726 0.735 0.744

. . . . .
125 146 159 165 166 160 148 133 116 34

85

0.753

98

EXERIMENT: A TABLE: 3 (DATA FROM STEP: 10) Sample 7 8 9 10 11 12 13 14 15 16 time 0.062 0.071 0.080 0.089 0.097 0.106 0.115 0.124 0.133 0.142 encoder # 2 pos 4882 4520 4112 3663 3179 2664 2125 1567 998 423

. . . . .
129 130 131 132 133 134 135 136 137 138

. . . . .
1.142 1.151 1.160 1.169 1.178 1.186 1.195 1.204 1.213 1.222

. . . . .
3008 2752 2469 2162 1834 1489 1130 762 388 13 35

EXERIMENT: A TABLE: 4 (DATA FROM STEP: 10unload) Sample 5 6 7 8 9 10 11 12 13 14 time 0.044 0.053 0.062 0.071 0.080 0.089 0.097 0.106 0.115 0.124 encoder # 2 pos 449 1228 1933 2534 3006 3328 3490 3490 3330 3023

. . . . .
63 64 65 66 67 68 69 70 71 72

. . . . .
0.558 0.567 0.576 0.584 0.593 0.602 0.611 0.620 0.629 0.638

. . . . .
57 463 839 1167 1433 1626 1738 1767 1715 1584

EXERIMENT: A 36

TABLE: 5 (DATA FROM STEP: 11) Sample 11 12 13 14 15 16 17 18 19 20 time 0.097 0.106 0.115 0.124 0.133 0.142 0.151 0.159 0.168 0.177 encoder # 2 pos 1688 1525 1355 1179 999 818 637 459 287 121

. . . . .
48 49 50 51 52 53 54 55 56 57

. . . . .
0.425 0.434 0.443 0.452 0.460 0.469 0.478 0.487 0.496 0.505

. . . . .
25 101 174 244 310 372 429 481 527 567

EXERIMENT: A TABLE: 6 (DATA FROM STEP: 13hi) 37

Sample 2 3 4 5 6 7 8 9 10 11

time 0.018 0.027 0.035 0.044 0.053 0.062 0.071 0.080 0.089 0.097

encoder # 1 pos 746 1024 1202 1290 1278 1160 956 712 431 130

. . . . .
25 26 27 28 29 30 31 32 33 34

. . . . .
0.221 0.230 0.239 0.248 0.257 0.266 0.274 0.283 0.292 0.301

. . . . .
404 578 701 760 745 672 554 402 227 41

EXERIMENT: A TABLE: 7 (DATA FROM STEP: 13le) Sample time encoder # 1 pos 38

10 11 12 13 14 15 16 17 18 19

0.089 0.097 0.106 0.115 0.124 0.133 0.142 0.151 0.159 0.168

166 680 1131 1536 1879 2149 2339 2441 2456 2385

. . . . .
43 44 45 46 47 48 49 50 51 52

. . . . .
0.381 0.390 0.398 0.407 0.416 0.425 0.434 0.443 0.452 0.460

. . . . .
39 299 544 722 844 935 991 1010 996 950

EXERIMENT: A TABLE: 8 (DATA FROM STEP: 14) Sample 1 time 0.009 encoder # 1 pos 5832 39

2 3 4 5 6 7 8 9 10

0.018 0.027 0.035 0.044 0.053 0.062 0.071 0.080 0.089

5615 5347 5032 4671 4269 3831 3360 2862 2343

. . . . .
46 47 48 49 50 51 52 53 54 55

. . . . .
0.407 0.416 0.425 0.434 0.443 0.452 0.460 0.469 0.478 0.487

. . . . .
265 700 1122 1529 1918 2283 2622 2930 3206 3445

EXERIMENT: A TABLE: 9 (DATA FROM STEP: 15po) Sample 5 time 0.044 encoder # 1 pos 229 40

6 7 8 9 10 11 12 13 14

0.053 0.062 0.071 0.080 0.089 0.097 0.106 0.115 0.124

1059 1951 2889 3858 4788 5662 5463 5035 4631

. . . . .
23 24 25 26 27 28 29 30 31 32

. . . . .
0.204 0.213 0.221 0.230 0.239 0.248 0.257 0.266 0.274 0.283

. . . . .
-2074 -3174 -4320 -5509 -6655 -7729 -8254 -7899 -7446 -6981

EXERIMENT: A TABLE: 10 (DATA FROM STEP: 15ne) Sample time encoder # 1 pos

0.000

2620
41

1 2 3 4 5 6 7 8 9

0.009 0.018 0.027 0.035 0.044 0.053 0.062 0.071 0.080

2297 2026 1813 1663 1578 1558 1600 1704 1861

. . . . .
23 24 25 26 27 28 29 30 31 32

. . . . .
0.204 0.213 0.221 0.230 0.239 0.248 0.257 0.266 0.274 0.283

. . . . .
360 -282 -1000 -1783 -2566 -3321 -4043 -4719 -5347 -5920

EXERIMENT: B TABLE: 1 (DATA FROM STEP: 7) Sample 0 time 0.000 encoder # 1 pos -3377 42

1 2 3 4 5 6 7 8 9

0.009 0.018 0.027 0.035 0.044 0.053 0.062 0.071 0.080

-3293 -3212 -3134 -3061 -2992 -2927 -2866 -2810 -2756

. . . . .
51 52 53 54 55 56 57 58 59 60

. . . . .
0.452 0.460 0.469 0.478 0.487 0.496 0.505 0.514 0.522 0.531

. . . . .
28 80 129 176 221 265 308 351 392 433

EXERIMENT: B TABLE: 2 (DATA FROM STEP: 7) Sample 0 time 0.000 encoder # 1 pos 5463 43

1 2 3 4 5 6 7 8 9

0.009 0.018 0.027 0.035 0.044 0.053 0.062 0.071 0.080

5584 5702 5817 5931 6041 6150 6256 6359 6460

. . . . .
41 42 43 44 45 46 47 48 49 50

. . . . .
0.363 0.372 0.381 0.390 0.398 0.407 0.416 0.425 0.434 0.443

. . . . .
5962 5954 5947 5942 5937 5934 5931 5930 5929 5929

EXERIMENT: B TABLE: 3 (DATA FROM STEP: 8) Sample 0 time 0.000 encoder # 1 pos -1062 44

1 2 3 4 5 6 7 8 9

0.009 0.018 0.027 0.035 0.044 0.053 0.062 0.071 0.080

-992 -924 -858 -794 -732 -671 -611 -554 -498

. . . . .
46 47 48 49 50 51 52 53 54 55

. . . . .
0.407 0.416 0.425 0.434 0.443 0.452 0.460 0.469 0.478 0.487

. . . . .
299 296 292 289 286 284 282 281 280 280

EXERIMENT: B TABLE: 4 (DATA FROM STEP: 10) Sample 0 time 0.000 encoder # 1 pos 1419 45

1 2 3 4 5 6 7 8 9

0.009 0.018 0.027 0.035 0.044 0.053 0.062 0.071 0.080

1336 1256 1179 1105 1035 968 903 840 779

. . . . .
45 46 47 48 49 50 51 52 53 54

. . . . .
0.398 0.407 0.416 0.425 0.434 0.443 0.452 0.460 0.469 0.478

. . . . .
-13 -13 -12 -11 -11 -10 -9 -9 -8 -8

46