Pre-lab 5 - UBC Mechanical Engineering

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MECH 421: Mechatronics System Instrumentation Figure 1: Conveyor belt system setup Figure 2: Conveyor belt system layout Figure 3: Simplified system diagram 2
MECH 421: Mechatronics System Instrumentation The system parameters are listed in Table 1. <strong>Pre</strong>-Lab Assignment 1. Initial Model: Parameter Value J1 – Idle Shaft Inertia 0.001069 Kg-m^2 J2 – Drive Shaft Inertia 0.001089 Kg-m^2 J3 – Gearbox Inertia (Output Side) 0.0007142 Kg-m^2 J4 – Motor Inertia 0.0001363 Kg-m^2 M1 – Total Mass of Belts 3.861 Kg R1 – Pulley Pitch Radius 0.03183 m Amplifier Gain 0.6195 A/V Motor Torque Constant 0.193 Nm/A Gearbox Reduction Ratio 10:1 Encoder Resolution (After Quadrature Decoding) 1440 Counts/Rev Table 1 – Conveyor System Parameters Based on the information in the <strong>lab</strong> description and the parameters supplied, draw a block diagram for the whole system assuming an infinitely stiff shaft coupling, with input Vc in unit [V] and output drive shaft position in unit [revolution]. Establish a model for the whole system, and derive the transfer function from Vc to . Draw Bodes plots of your transfer function. 2. Refined model: Figure 4 shows the system frequency response experimentally measured by Darya from Vc[V] to [rev]. Compare the Bode plot of your first model in part 1 with Darya’s measurement result. Discuss and explain the differences. Based on this measurement result, establish a new refined physical model which fits the experiment result as much as possible. Draw Bode plots of your refined model. Try to give an intuitive physical interpretation of the dynamics exhibited from the frequency response, and relate the measurement results to design parameters of the system. (HINT: remember the two mass coupled system. Is the shaft coupling really infinitely stiff? ) 3
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Pre-lab 5 - UBC Mechanical Engineering

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