AE 443 · Experimental Dynamics and Control Laboratory · Spring 2026 · ERAU
Applied a square-wave step input to the Quanser SRV02 servo-motor and recorded the load shaft speed response via MATLAB/Simulink to extract steady-state gain (K) and time constant (τ) using the bump test method. Iterated model parameters in a validation experiment; best-fit values of K = 1.68 rad/s/V and τ = 0.044 s produced near-exact agreement between simulated and measured responses.
Derived equations of motion for the SRV02 rotary flexible link using the Euler-Lagrange method, then identified the link's natural frequency (ωn = 18.49 rad/s) and stiffness (K_s = 1.30 N·m/rad) from a free-oscillation response. Built and validated a 4-state state-space model; open-loop poles and transfer functions were derived and compared against measured servo angle and link angle responses.
Designed PV and PIV controllers for load shaft position control of the SRV02. Step tracking was validated in simulation and on hardware; adding an integral gain k_i = 38.9 V/(rad·s) reduced ramp tracking steady-state error from 0.186 rad (PV alone) to 0.007 rad (PIV), confirming that the integral term eliminates the Type-1 ramp error present in PV-only control.
Derived the closed-loop transfer function for a PI-controlled rotary gyroscope and designed gains (k_p = 19.79, k_i = 39.86) to track a 2° deflection reference. Demonstrated superior disturbance rejection with the PI controller enabled versus disabled, and confirmed system stability for both open-loop and closed-loop configurations using the Routh-Hurwitz criterion.
Designed and compared PI and lead compensators for SRV02 motor speed regulation using frequency-domain methods. Bode analysis confirmed infinite gain margin and 87.8° phase margin. PI control achieved 4.4% overshoot in simulation and 23.8% on hardware; the lead compensator showed 2% simulated overshoot but 44.4% on hardware, demonstrating that PI control is more robust to unmodeled physical effects in this configuration.