# 0.7 System identification for the torsional plant

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The objective of this lab is to review of the behavior of second-order systems. Students will gain a better understanding of the importance system identification. Students will also develop a hands-on understanding of the concept of hardware gain and why it will play a crucial role in controller design. System Identification will be implemented in LabVIEW using the System Identification Toolkit.

## Objectives

• Understand the dynamic equivalence between rotational and translational systems.
• Perform system identification using two different methods and compare the results.

## Pre-lab

• Assume that the least squares estimate has already been found for the unloaded and loaded sine sweep tests, so ${\stackrel{ˆ}{x}}_{\mathrm{d1}}$ , ${\stackrel{ˆ}{x}}_{\mathrm{d2}}$ , ${\stackrel{ˆ}{x}}_{\mathrm{d3}}$ , ${\stackrel{ˆ}{\stackrel{ˉ}{x}}}_{\mathrm{d1}}$ , ${\stackrel{ˆ}{\stackrel{ˉ}{x}}}_{\mathrm{d2}}$ , ${\stackrel{ˆ}{\stackrel{ˉ}{x}}}_{\mathrm{d3}}$ are known values. Formulate the linear least squares equation to estimate the 9 individual plant parameters. In other words, find the $y$ vector and $H$ matrix that would go into the equation $y=Hx+\epsilon \phantom{\rule{0ex}{0ex}}$ where the vector of parameters to be estimated, $x$ , is defined as $x=\left[\begin{array}{c}{J}_{\mathrm{d1}}\\ {J}_{\mathrm{d2}}\\ {J}_{\mathrm{d3}}\\ {c}_{1}\\ {c}_{2}\\ {c}_{3}\\ {k}_{1}\\ {k}_{2}\\ {k}_{hw}\end{array}\right]\phantom{\rule{0ex}{0ex}}$
• Outline the experimental steps you will take to identify the torsional plant using the second-order model method similar to Lab #2. Your procedure should allow you to find ${J}_{\mathrm{d1}},{J}_{\mathrm{d3}},{c}_{1},{c}_{3},{k}_{1},{k}_{2},$ and ${k}_{hw}$ . You may exclude the procedure for identifying the inertia and damping for disk 2. When formulating your procedures, remember that disks 2 and 3 can be clamped, disk 1 cannot.

## System identification using least squares

• Configure the plant with all three disks rotating freely and no brass weights attached.
• Perform a 1638 count (0.5V) linear sine sweep from $0$ to $8Hz$ with a sweep time of $20$ seconds. When the execution is complete, enter a file name such as $\mathit{3DiskSweepUnloaded}$ and save the raw data from the front panel.
• Now load two $0.5kg$ brass weights onto each of the three disks so their centers are $9.0cm$ from the axis of rotation.
• Perform the sine sweep again. Enter a file name such as $\mathit{3DiskSweepLoaded}$ and save the raw data.
• You are now ready to identify the system parameters using least squares estimation.

## System identification using second-order model

• Follow the steps you outlined in the pre-lab to identify the system parameters using the second-order model method.

## Post-lab

• Complete the table below; remember to include units.
• How close are your least-squares values compared to your second-order model values. Can you explain any discrepanciesbetween them. Which method do you think is more accurate?

#### Questions & Answers

where we get a research paper on Nano chemistry....?
nanopartical of organic/inorganic / physical chemistry , pdf / thesis / review
Ali
what are the products of Nano chemistry?
There are lots of products of nano chemistry... Like nano coatings.....carbon fiber.. And lots of others..
learn
Even nanotechnology is pretty much all about chemistry... Its the chemistry on quantum or atomic level
learn
da
no nanotechnology is also a part of physics and maths it requires angle formulas and some pressure regarding concepts
Bhagvanji
hey
Giriraj
Preparation and Applications of Nanomaterial for Drug Delivery
revolt
da
Application of nanotechnology in medicine
what is variations in raman spectra for nanomaterials
ya I also want to know the raman spectra
Bhagvanji
I only see partial conversation and what's the question here!
what about nanotechnology for water purification
please someone correct me if I'm wrong but I think one can use nanoparticles, specially silver nanoparticles for water treatment.
Damian
yes that's correct
Professor
I think
Professor
Nasa has use it in the 60's, copper as water purification in the moon travel.
Alexandre
nanocopper obvius
Alexandre
what is the stm
is there industrial application of fullrenes. What is the method to prepare fullrene on large scale.?
Rafiq
industrial application...? mmm I think on the medical side as drug carrier, but you should go deeper on your research, I may be wrong
Damian
How we are making nano material?
what is a peer
What is meant by 'nano scale'?
What is STMs full form?
LITNING
scanning tunneling microscope
Sahil
how nano science is used for hydrophobicity
Santosh
Do u think that Graphene and Fullrene fiber can be used to make Air Plane body structure the lightest and strongest. Rafiq
Rafiq
what is differents between GO and RGO?
Mahi
what is simplest way to understand the applications of nano robots used to detect the cancer affected cell of human body.? How this robot is carried to required site of body cell.? what will be the carrier material and how can be detected that correct delivery of drug is done Rafiq
Rafiq
if virus is killing to make ARTIFICIAL DNA OF GRAPHENE FOR KILLED THE VIRUS .THIS IS OUR ASSUMPTION
Anam
analytical skills graphene is prepared to kill any type viruses .
Anam
Any one who tell me about Preparation and application of Nanomaterial for drug Delivery
Hafiz
what is Nano technology ?
write examples of Nano molecule?
Bob
The nanotechnology is as new science, to scale nanometric
brayan
nanotechnology is the study, desing, synthesis, manipulation and application of materials and functional systems through control of matter at nanoscale
Damian
Is there any normative that regulates the use of silver nanoparticles?
what king of growth are you checking .?
Renato
What fields keep nano created devices from performing or assimulating ? Magnetic fields ? Are do they assimilate ?
why we need to study biomolecules, molecular biology in nanotechnology?
?
Kyle
yes I'm doing my masters in nanotechnology, we are being studying all these domains as well..
why?
what school?
Kyle
biomolecules are e building blocks of every organics and inorganic materials.
Joe
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