MAS407 Modelling and Simulation Master Mechatronics and Renewable Energy This tutorial is compulsory in the course MAS407.

. The tutorial must be submitted as a PDF or Word file in Fronter. Document all your Matlab code and include graphs showing the simulation results. The deadline is Friday 23 September 2011. Work in groups of 1 or 2 students.
Task 1: Write one Matlab function and one Matlab script to simulate the postion x of the system illustrated below when the armature voltage of the DC motor is ramped up from 0V to 120V in 3 seconds. All state variables are initialised to zero.

The main actuator in the system is a permanent magnet DC motor. The motor is fixed in space and drives a rack and pinion system as illustrated in the figure. The rack is attached to a wall via a spring and a damper. When the motor angle =0, then the mass position x=0 and there is no force from the spring K. When the motor turns in the positive direction, then the mass m moves in the positive direction and the spring produces a negative force on the rack. There is no slip between the rack and the pinion. Use the following numerical values: Rack radius R = 0.1m Pinion and motor inertia J = 0.1 Nm s2/rad Mass m = 100kg Spring constant K = 10 000N/m Damper constant D = 100 Ns/m Armature resistance Ra = 2.5 Armature inductance La = 40 mH Torque constant KT = 0.92 Nm/A Speed constant Kw = 0.92 Vs/rad In the simulation, use a time step of 1ms and a total simulation time of 10s. Based on the simulation, answer the following questions: What is the maximum value for the mass position x ? How much total mechanical energy is produced by the DC motor during the simulation ?

Task 2:
The armature resistance Ra and the damper D change value depending on the temperature and there is some uncertainity in these parameters. All other parameters are known with good accuracy. In Fronter you will find an experiment file called exp.mat which can be loaded into Matlab. This file contains the five state variables (ia, , , x and dx/dt), the input armature voltage ua and the time vector t. Based on this experimental data, write a Matlab script which uses the least-squares method to estimate the parameters Ra and D.