Lab 6 Grading Scale Prelab (__/45) Part (a): Design an all-integrator block diagram to implement the lead compensator (do not use derivative blocks.) (5pts) Part (b): Find the phase margin and crossover frequency: (10pts) Part (c): Plot the Bode Diagram for the lead compensator: (5pts) Part (d): Design a lead compensator such that the closed loop system for a unit step input: overshoot of the is less than 15% rise time is less than 30ms. (17pts) Part (e): Verify that the given Gc, with lower DC gain, satisfies the requirements. (8pts) ----------------------------------------------------------------- 1. Plot with/without saturation Discussion 10 ----------------------------------------------------------------- 2. DC gain from lab 4 DC gain from this lab 10 ----------------------------------------------------------------- 3. Table of values for Mp, tr, and ts for the low and high DC gain compensators for each of the following: - measured in lab with real motor - simulated with motor parameters from prelab - simulated with corrected motor parameters Discussion 20 ----------------------------------------------------------------- 4. Were the design specs met by the low DC gain compensator? high DC gain compensator? PD controller from lab 5? 10 ----------------------------------------------------------------- 5. Overlaid Bode plots: fit versus measured 20 ----------------------------------------------------------------- 6. Overlaid Bode plots (Open Loop) Phase margin and crossover frequency Are the open loop design specs met? 10 ----------------------------------------------------------------- 7. Overlaid Bode plots (Closed Loop) Closed loop bandwidth Discussion 10 ----------------------------------------------------------------- Report Total 90 Prelab 45 Checkout (demonstrate part 5 to your TA) 15 ================================================================= Lab Total 150