But when i just increased the controller gains by a fold of 100 the system was seem to be controlled. The system was measured with a difference of (0.002 milliseconds)
Hi Nikhil Murali Krishnaa,
1. Its a MIMO system. Please find the attachment for the mathematical model.
2. To control it within 20 milliseconds (or after 1st oscillation of the mass 1). also find in the attachment.
Hi Nikhil Murali Krishnaa,
Note: This is an under-actuated mass-spring-damper system.
If you just want to bring mass 1 to a steady state within 0.02 sec, then the following controller might work:
F = − M1·(600·z1' + 90000·z1) + B1·(z1' − z3') + K1·(z1 − z3)
Hopefully Mass 2 does not collide with Mass 1.
You may have to adjust the integral along with those gains because the integral may be too fast for the type of calculation.
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