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This paper presents close loop speed control scheme for the speed control of a
permanent magnet DC motor using an National Instrument myRIO Microcontroller.
The microcontroller has been programmed to automatically vary the duty cycle of
the H-bridge chopper depending upon the set/required speed of the motor. The
chopper is driven by a high frequency PWM signal. Controlling the PWM duty cycle is
equivalent to controlling the motor terminal voltage, which in turn adjust directly
the motor speed. The PC interfacing has been done using serial port (DB9 Connector).
Experimental results show that proposed system is suitable for different industrial
applications such as trolley buses, subway cars, or battery-operated vehicles.
INTRODUCTION
1
DC MOTOR
TACHOMETER
The LM2907, LM2917 series are monolithic frequency to voltage converters with a
high gain op amp/comparator designed to operate a relay, lamp, or other load when
the input frequency reaches or exceeds a selected rate. The tachometer uses a
charge pump technique and offers frequency doubling for low ripple, full input
protection in two versions (LM29078, LM2917-8) and its output swings to ground for
a zero frequency input. The op amp or comparator is fully compatible with the
tachometer and has a floating transistor as its output. This feature allows either a
ground or supply referred load of up to 50 mA. The two basic configurations offered
include an 8-pin device with a ground referenced tachometer input and an internal
connection between the tachometer output and the op amp non-inverting input.
This version is well suited for single speed or frequency switching or fully buffered
frequency to voltage conversion applications. The more versatile configurations
provide differential tachometer input and uncommitted op amp inputs. With this
version the tachometer input may be floated and the op amp becomes suitable for
active filter conditioning of the tachometer output. Both of these configurations are
available with an active shunt regulator connected across the power leads.
2
PULSE WIDTH MODULATION
Pulse Width Modulation (PWM) is a fancy term for describing a type of digital signal.
Pulse width modulation is used in a variety of applications including sophisticated
control circuitry. A common way we use them here at SparkFun is to control
dimming of RGB LEDs or to control the direction of a servo motor. We can
accomplish a range of results in both applications because pulse width modulation
allows us to vary how much time the signal is high in an analog fashion. While the
signal can only be high (usually 5V) or low (ground) at any time, we can change the
proportion of time the signal is high compared to when it is low over a consistent
time interval.
OBJECTIVE
THEORY
A system that maintains a prescribed relationship between the output and the
reference input is called a closed-loop system or a feedback control system.
The system uses a measurement of the output and feedback of the signal to
compare it with the desired output. By comparing the input signal and the feedback
signal, the controller reduces the difference between the two signals and brings the
output of the system to a desired value.
3
MYRIO PWM DC MOTOR
PROCEDURE
4
6. k c , Ti and Td were adjusted and the graph produce were observed.
RESULT
1. Proportional gain, k c
amplitude vs time
4
3.5
2.5
1.5
0.5
0
0 50 100 150 200
amplitude vs time
3
2.5
1.5
0.5
0
0 50 100 150 200 250 300 350 400
5
2. Integral time constant, Ti
amplitude vs time
2.5
1.5
0.5
0
0 100 200 300 400 500 600
amplitude vs time
4
3.5
2.5
1.5
0.5
0
0 50 100 150 200 250 300 350 400 450
6
3. Derivative time constant, Td
amplitude vs time
4
3.5
2.5
1.5
0.5
0
0 50 100 150 200 250 300 350 400
amplitude vs time
3
2.5
1.5
0.5
0
0 100 200 300 400 500 600
7
4. Ideal k c , Ti and Td
amplitude vs time
3
2.5
1.5
0.5
0
0 50 100 150 200
amplitude vs time
3
2.5
1.5
0.5
0
0 50 100 150 200
8
AMIER DANIAL BIN NOR AZIZI 2016218438
Discussion
PID controller were used to run a speed control system. So to control the speed
system, a MyRIO is used. MyRIO is a National Instrument’s product that is an
evaluation board. It is used to develop applications that utilize its on board FPGA and
microprocessor. It requires LabVIEW. LabVIEW is accompanying software used to
control MyRIO and any components attached to it; which in this case a DC motor.
As for the result analysis, six graphs are gain by adjusting the value of Proportional
gain,Kc, integral time constant, Ti, and derivative time constant, Td. The graph for
high Kc (Kc =0.5, ki = 0.001, kd=0.001), we observed that the rise time is about 9
millisecond. Then the graph starts to propagate unstably in the range 2.3 to 3.5. The
range decrease as the time increase. However, for a low value of kc (Kc =0.005, ki =
0.001, kd=0.001) the rising time is more longer. No overshoot exist and reach stability
at 2.5.
We also changed integral time constant, Ti. When we increase ti value (Kc =0.1, ki =
0.1, kd=0.001), we get an exponential graph. Compared to the low Ti value (Kc =0.1,
ki = 0.0001, kd=0.001) which give a short rise time but it is not stable initially. Still
no overshoot occurs. As for the high Td values (Kc =0.1, ki = 0.001, kd=0.1), the
graph propagate sinusoidally through the time but the amplitude increase at 55
millisecond. But when we lower the value (Kc =0.1, ki = 0.001, kd=0.0001), the rise
time is the shortest without an overshoot.
Conclusion
9
Muhammad Razlan Bin Ghazali
2017806762
Group 3A
Discussion
Based on the experiment of closed loop speed control system, where LABVIEW and
National Instrument MyRIO is used to manipulate the implementation of closed loop
in the control system. This is archived by analyzing how the control system works to
meet the set point which is at 2.5 that are targeted. During conducting the experiment,
the value of Kp, Ti, Td need to be considered as a parameter that can affect the
performance and the value of error in reaching the speed target of 2.5 of the
tachometer.
Based on the graph that are plotted with the data, if the value of proportional gain, k c
is manipulated meanwhile the the value of derivative time constant, Td and integral
time constant, Ti remain constant. The value of the amplitude of the graph will
decrease rise time and when the value proportional gain, k c decrease , the rise time
will increase.Next, based on the graph with the value of integral time constant, Ti is
increased and value of Td and k c is remain constant. The error increased as to reach
the set point is much higher when the value of is Ti decreased. Moreover, from the
graph where the Derivative time constant, Td is high the plotted graph is unstable
while when the value is low the settling time is low with little overshoot.
10
Conclusion
k c , if k c is increasing, the tachometer and revolution per minute also will increasing.
But, the performance of this control systems also affected by the derivative time, Td
which is higher the value of Td , the value of tachometer and revolution per minute
also increase. On the other hand, the proportional gain and derivative time effected
the performance of the control system.
11
MUHAMMAD SHAFRUL AIMAN BIN MOHD SHAIDI 2017631858
Discussion
Evident from the actual and modelled responses of both speed and position control,
the proportional controller gain, Kp, adjusts the system output by scaling the system
error. This allows the system to respond faster if Kp is increased, however,
this significant change in system output can cause overshoot in the desired response.
The integral controller gain, Ki, allows the system to consider accumulated error
and adjust the system output accordingly. Ultimately, increasing Ki removes
the steady-state error from the response at the cost of increasing
percent overshoot and settling time. The derivative controller gain, Kd, utilizes the
rate of the change of the error, essentially predicting where the system response is
headed, to steer the control effort. Overall, increasing Kd decreases percent
overshoot and settling time of the response. In the case of angular velocity response,
the results from the simulations are a decent approximation of the response
observed from the physical experimentation. Moreover, the continuous and
discrete mathematical models exhibit nearly exact same responses. The low graph
shows the closest matching actual and model response pair. It can be observed that the
actual response has a sharper rise and fall than the model, but both responses have the
same steady-state value for each section of the response. The high graph shows the
worst matching actual and model response pair. In this plot, the rising and falling
slope of the simulated responses are less steep than the physical response, akin to
the previous figure, but their shape is much more smooth, in particular, neglecting
the kink around the one second mark in the actual model response. In the
case of angular position response, the shapes of the modeled and
actual responses are radically dissimilar from one another for nearly all PID gain
combinations. The continuous and discrete models generally shared the same overall
trend, however they did not match as closely as in the angular velocity case. Through
additional experimentation, it was found that if the gains were quadrupled from their
supposed values in the simulations, both thecontinuous and discrete modeled
responses closely matched the actual response. This indicates that a
possible scaling issue caused the original discrepancy in the angular position
responses.
12
However, a more probable cause of this discrepancy is from the fact that a
linear model is used to approximately represent a nonlinear physical model. These
nonlinearities can arise in the physical model in the form of start up friction in the DC
motor’s drive shaft and gears and the limited resolution of the optical encoder.
Conclusion
The objective of this experiment was to design a PID feedback controller for the
speed control and position of a DC motor using closed loop controller. Through both
physical testing and simulations, the individual effects of manipulating proportional,
integral and derivative on the system’s response were examined and
characterized. For speed control, the actual and simulated (both high and low)
responses mostly matched. On the other hand, for angular position control, high
plotting graph between the responses were observed, most likely a result from using a
linear mathematical model to approximate a physical nonlinear system. Thus, refer to
optimum is best choices.
13
MUHAMMAD HILMANUDDIN BIN MUZAKKIR 2017806734
DISCUSSION
In closed loop control, the control action from the controller is dependent on
the process output. In the case of the boiler analogy this would include a thermostat to
monitor the building temperature, and thereby feedback a signal to ensure the
controller maintains the building at the temperature set on the thermostat. A closed
loop controller therefore has a feedback loop which ensures the controller exerts a
control action to give a process output the same as the reference input or setpoint. For
this reason, closed loop controllers are also called feedback controllers.
14
provide the major portion of the controller output. The PID controller primarily has to
compensate whatever difference or error remains between the setpoint and the system
response to the open loop control. Since the feed-forward output is not affected by the
process feedback, it can never cause the control system to oscillate, thus improving
the system response without affecting stability. Feed forward can be based on the
setpoint and on extra measured disturbances. Setpoint weighting is a simple form of
feed forward.
A closed-loop step motor system combines the advantages of servo motor and
stepper motor technologies. Functionally, a closed-loop stepper motor system will run
much more smoothly and with less resistance than a standard stepper motor setup.
Since a closed-loop system provides feedback and control as well as short transient
and free oscillation times, the closed-loop system will not lose or gain steps.
A closed-loop stepper motor system may be the best option when the
application requires improved energy efficiency and smoothness of operation,
especially at high loads. In addition, a closed-loop system has the advantage over
servo motor systems of higher torque at low RPMs. Additional benefits include short
transient times, less packaging, accurate/correct positioning using feedback from
encoders integrated into the motors to the controller, and comparatively low prices.
15
CONCLUSION
In a nutshell, the experiment of closed loop speed control system has been
successfully conducted. Furthermore, able to investigate the performance of speed
control system using closed loop controller. Also, able to analyze and evaluate the
performance of the control system. Hence, the objectives of the experiment are
positively achieved. Stepper motor systems using closed-loop control represent a
small percentage of stepper motor applications, but if loss of position could be
catastrophic to the application, yet the system requires high torque at low speed,
relatively simple architecture, and relatively low cost compared to a true servo motor
system, a closed-loop stepper might be the most appropriate solution.
16
Muhammad Nabil Farhan bin Tajuddin
2017806792
EMD6M-3A
Discussion
• SET Kc (proportional gain). Starting with Kc=0, KI=0 and KD=0, increase Kc until
the output starts overshooting and motor ringing. Based on graph, it shows that if the
value of Kp is too high, it will be unstable because of the sensitivity of disturbance is
high and vice versa if the graph is low.
On last graph represent the most optimum one, which represent the less disturbance at
amplitude and overshoot and reaching at the set point as fast as possible, however,
sometimes the value will be different depending on particular time probably because
of the external condition, but still in the acceptable range. PID control is the most
widely used control strategy of the current industrial application. And attributed to its
good robustness and broad scope of application, it has been increasingly addressed in
the control field. The huge cost of manual tuning and the lack of tuning professional
gave rise to many PID controller parameters guarantee in the degree of stability of the
industrial process. This greatly increase the efficiency of the industrial production
17
Conclusion
In conclusion, the experiment were succeeded in forming the understanding about
how PWM working in order to ensure the feedback system can improve the system
more efficiently rather than using open loop system.
18
MUHAMMAD NAFIE BIN NOR ASMADI
2017806732
EMD6M3A
Discussion
This experiment is conducted to investigate and analyse the performance of speed
control system using closed loop controller. This includes in setting the Kc, Ti, and Td,
to stabilize the DC motor connected. After several testing the optimum value of Kc are
0.1, Ti are 0.001, and Td are 0.001 to get speed setpoint of 2.5 m/s-1. This data will
result in getting the optimum graph with low settling time which is 15 ms with the
overshoot value of 2.6513 m/s-1. When the k c increases to 0.5 with constant Ti, and Td,
the DC motor will not stabilize. It does not have actual settling time since the data
keep rise and low repeatly and the amplitude rise to around 3.5 m/s-1 which means it is
far from the setpoint value that is 2.5 m/s-1. When the Kc is reduce to 0.005 with Ti
and Td constant, its settling time become greater that is around 150 ms without any
overshoot. Then by increasing the value of Ti to 0.1with constant Kc and Td as
optimum, it is take longer time for the DC motor to settle down and stabilize. By
decresing the Ti to 0.0001 from the optimum value it will increase the amplitude to
around 3.5 m/s-1 and did not get the desired setpoint. Next by increasing the Td to 0.1
from the optimum value, the DC motor is not stabilize and the max amplitude are 3.5
m/s-1 and the lowest amplitude are 0. By lowering the Td 0.0001 from the optimum
value it will eliminate the overshoot.
19
Conclusion
In conclusion the objective of the experiment had been achieve that is to investigate and analyse
the performance of speed control system using closed loop controller. Even though there are
some small change on the Kc, Ti or Td, it will affect the DC motor to become unstable. In order
to achieved stabilize DC motor feedback loop are important which is when the motor are
unstable it will sent back the data to input for the correction and make it more stabilize.
20
Appendix
High k c
Time - Speed Setpoint Amplitude - Speed Setpoint Time - Targert Amplitude - Targert
1 2.5 1 0.0195313
3 2.5 3 1.77002
5 2.5 5 0.546875
7 2.5 7 2.03369
9 2.5 9 3.52051
11 2.5 11 2.5708
13 2.5 13 3.52051
15 2.5 15 2.5708
17 2.5 17 3.52051
19 2.5 19 3.53027
21 2.5 21 3.52051
23 2.5 23 3.18604
25 2.5 25 3.52051
27 2.5 27 3.53027
29 2.5 29 3.52051
31 2.5 31 3.53027
33 2.5 33 3.52051
35 2.5 35 3.52295
37 2.5 37 3.52539
39 2.5 39 3.52295
41 2.5 41 3.52051
21
43 2.5 43 3.52295
45 2.5 45 3.52051
47 2.5 47 3.52051
49 2.5 49 3.52051
51 2.5 51 3.52051
53 2.5 53 3.52539
55 2.5 55 3.52539
57 2.5 57 3.52051
59 2.5 59 2.85156
61 2.5 61 3.52051
63 2.5 63 2.85156
65 2.5 65 3.52051
67 2.5 67 3.52051
69 2.5 69 2.85156
71 2.5 71 2.92969
73 2.5 73 2.92969
75 2.5 75 2.92969
77 2.5 77 2.92969
79 2.5 79 3.52051
81 2.5 81 2.92969
83 2.5 83 3.52051
85 2.5 85 3.52051
87 2.5 87 2.92969
89 2.5 89 3.40332
91 2.5 91 3.40332
22
93 2.5 93 3.40332
95 2.5 95 3.40332
97 2.5 97 3.40332
99 2.5 99 2.92969
23
143 2.5 143 3.02734
Low k c
24
Time - Speed Setpoint Amplitude - Speed Setpoint Time - Targert Amplitude - Targert
1 2.5 1 0.0195313
3 2.5 3 0.0170898
5 2.5 5 0.0195313
7 2.5 7 0.0634766
9 2.5 9 0.107422
11 2.5 11 0.185547
13 2.5 13 0.263672
15 2.5 15 0.327148
17 2.5 17 0.390625
19 2.5 19 0.461426
21 2.5 21 0.532227
23 2.5 23 0.593262
25 2.5 25 0.654297
27 2.5 27 0.710449
29 2.5 29 0.766602
31 2.5 31 0.822754
33 2.5 33 0.878906
35 2.5 35 0.930176
37 2.5 37 0.981445
39 2.5 39 1.02539
41 2.5 41 1.06934
43 2.5 43 1.11572
45 2.5 45 1.16211
47 2.5 47 1.20605
25
49 2.5 49 1.25
51 2.5 51 1.32324
53 2.5 53 1.39648
55 2.5 55 1.45996
57 2.5 57 1.52832
59 2.5 59 1.58691
61 2.5 61 1.63574
63 2.5 63 1.69434
65 2.5 65 1.75293
67 2.5 67 1.78711
69 2.5 69 1.83105
71 2.5 71 1.86523
73 2.5 73 1.91406
75 2.5 75 1.95313
77 2.5 77 1.98242
79 2.5 79 2.00195
81 2.5 81 2.0459
83 2.5 83 2.0752
85 2.5 85 2.10938
87 2.5 87 2.11426
89 2.5 89 2.14844
91 2.5 91 2.16797
93 2.5 93 2.18262
95 2.5 95 2.20703
97 2.5 97 2.22168
26
99 2.5 99 2.24609
27
149 2.5 149 2.44629
28
199 2.5 199 2.49023
29
249 2.5 249 2.5
30
299 2.5 299 2.5
31
349 2.5 349 2.50488
High Ti
Time - Speed Setpoint Amplitude - Speed Setpoint Time - Targert Amplitude - Targert
63 2.5 63 0.898438
65 2.5 65 0.908203
67 2.5 67 0.927734
69 2.5 69 0.9375
71 2.5 71 0.957031
73 2.5 73 0.961914
75 2.5 75 0.981445
77 2.5 77 0.986328
79 2.5 79 1.00098
81 2.5 81 1.01563
32
83 2.5 83 1.03027
85 2.5 85 1.0498
87 2.5 87 1.05957
89 2.5 89 1.0791
91 2.5 91 1.08398
93 2.5 93 1.09375
95 2.5 95 1.1084
97 2.5 97 1.12793
99 2.5 99 1.14258
33
133 2.5 133 1.32324
34
183 2.5 183 1.5625
35
233 2.5 233 1.75781
36
283 2.5 283 1.89453
37
333 2.5 333 2.0166
38
383 2.5 383 2.11426
39
433 2.5 433 2.19238
40
483 2.5 483 2.25098
41
533 2.5 533 2.30469
Low Ti
Time - Speed Setpoint Amplitude - Speed Setpoint Time - Targert Amplitude - Targert
1 2.5 1 0.0195313
3 2.5 3 0.417481
5 2.5 5 0.81543
7 2.5 7 2.18262
9 2.5 9 0.81543
11 2.5 11 2.17285
13 2.5 13 3.53027
15 2.5 15 2.17285
17 2.5 17 3.53027
19 2.5 19 3.53516
42
21 2.5 21 3.53027
23 2.5 23 3.53516
25 2.5 25 3.54004
27 2.5 27 3.53516
29 2.5 29 3.54004
31 2.5 31 3.54004
33 2.5 33 3.54004
35 2.5 35 3.54004
37 2.5 37 3.54004
39 2.5 39 3.54004
41 2.5 41 3.54004
43 2.5 43 3.54004
45 2.5 45 3.54004
47 2.5 47 3.54004
49 2.5 49 3.54004
51 2.5 51 3.54004
53 2.5 53 3.54004
55 2.5 55 3.54004
57 2.5 57 3.54004
59 2.5 59 3.54004
61 2.5 61 3.54981
63 2.5 63 3.54004
65 2.5 65 3.54981
67 2.5 67 3.54981
69 2.5 69 3.54981
43
71 2.5 71 3.55469
73 2.5 73 3.55469
75 2.5 75 3.54981
77 2.5 77 3.55469
79 2.5 79 3.55957
81 2.5 81 3.55469
83 2.5 83 3.55957
85 2.5 85 3.55957
87 2.5 87 3.55957
89 2.5 89 3.56445
91 2.5 91 3.56445
93 2.5 93 3.55957
95 2.5 95 3.55957
97 2.5 97 3.56445
99 2.5 99 3.55957
44
121 2.5 121 3.55957
45
171 2.5 171 3.55957
46
221 2.5 221 3.55957
47
271 2.5 271 3.55957
48
321 2.5 321 3.56445
49
371 2.5 371 3.55957
High Td
Time - Speed Setpoint Amplitude - Speed Setpoint Time - Targert Amplitude - Targert
1 2.5 1 0.0146484
3 2.5 3 0.427246
5 2.5 5 0.0195313
50
7 2.5 7 0.429688
9 2.5 9 0.0195313
11 2.5 11 0.429688
13 2.5 13 0.0195313
15 2.5 15 0.429688
17 2.5 17 0.0195313
19 2.5 19 0.429688
21 2.5 21 0.0195313
23 2.5 23 0.429688
25 2.5 25 0.0195313
27 2.5 27 0.429688
29 2.5 29 0.0195313
31 2.5 31 0.429688
33 2.5 33 0.0195313
35 2.5 35 0.429688
37 2.5 37 0.0195313
39 2.5 39 0.429688
41 2.5 41 0.0195313
43 2.5 43 0.429688
45 2.5 45 0.0195313
47 2.5 47 0.429688
49 2.5 49 0.0195313
51 2.5 51 0.839844
53 2.5 53 0.0195313
55 2.5 55 3.53516
51
57 2.5 57 0.0195313
59 2.5 59 3.53516
61 2.5 61 0.0195313
63 2.5 63 3.54004
65 2.5 65 0.0195313
67 2.5 67 3.54004
69 2.5 69 0.0195313
71 2.5 71 3.54004
73 2.5 73 0.0195313
75 2.5 75 3.54004
77 2.5 77 0.0195313
79 2.5 79 3.54004
81 2.5 81 0.0195313
83 2.5 83 3.54004
85 2.5 85 0.0195313
87 2.5 87 3.54004
89 2.5 89 0.0195313
91 2.5 91 3.54004
93 2.5 93 0.0195313
95 2.5 95 3.54004
97 2.5 97 0.0195313
99 2.5 99 3.54004
52
107 2.5 107 3.54004
53
157 2.5 157 0.0195313
54
207 2.5 207 3.54492
55
257 2.5 257 0.0195313
56
307 2.5 307 3.55469
57
357 2.5 357 0.0195313
Low Td
Time - Speed Setpoint Amplitude - Speed Setpoint Time - Targert Amplitude - Targert
1 2.5 1 0.0195313
3 2.5 3 0.417481
5 2.5 5 0.81543
7 2.5 7 1.87744
9 2.5 9 2.41699
11 2.5 11 2.40234
13 2.5 13 2.41699
15 2.5 15 2.46826
17 2.5 17 2.48047
19 2.5 19 2.49512
21 2.5 21 2.49023
23 2.5 23 2.5
25 2.5 25 2.50977
27 2.5 27 2.5
29 2.5 29 2.50977
58
31 2.5 31 2.50977
33 2.5 33 2.50977
35 2.5 35 2.50488
37 2.5 37 2.5
39 2.5 39 2.50488
41 2.5 41 2.5
43 2.5 43 2.50244
45 2.5 45 2.50488
47 2.5 47 2.50244
49 2.5 49 2.50488
51 2.5 51 2.50977
53 2.5 53 2.50977
55 2.5 55 2.50488
57 2.5 57 2.5
59 2.5 59 2.50488
61 2.5 61 2.50488
63 2.5 63 2.50488
65 2.5 65 2.50488
67 2.5 67 2.50488
69 2.5 69 2.50488
71 2.5 71 2.50488
73 2.5 73 2.50488
75 2.5 75 2.50488
77 2.5 77 2.50488
79 2.5 79 2.50488
59
81 2.5 81 2.5
83 2.5 83 2.50488
85 2.5 85 2.50488
87 2.5 87 2.50488
89 2.5 89 2.50488
91 2.5 91 2.50488
93 2.5 93 2.50488
95 2.5 95 2.5
97 2.5 97 2.5
99 2.5 99 2.5
60
131 2.5 131 2.50488
61
181 2.5 181 2.5
62
231 2.5 231 2.50488
63
281 2.5 281 2.5
64
331 2.5 331 2.50977
65
381 2.5 381 2.5
66
431 2.5 431 2.5
67
Optimum k c , Ti and Td
Time - Speed Setpoint Amplitude - Speed Setpoint Time - Targert Amplitude - Targert
1 2.5 1 0.0146484
3 2.5 3 0.4199220
5 2.5 5 0.8251950
7 2.5 7 1.7993200
9 2.5 9 2.6513700
11 2.5 11 2.5390600
13 2.5 13 2.4755900
15 2.5 15 2.4804700
17 2.5 17 2.4853500
19 2.5 19 2.4877900
21 2.5 21 2.4902300
23 2.5 23 2.4877900
25 2.5 25 2.4902300
27 2.5 27 2.4877900
29 2.5 29 2.4902300
31 2.5 31 2.4951200
33 2.5 33 2.4951200
35 2.5 35 2.4975600
37 2.5 37 2.4951200
39 2.5 39 2.4975600
41 2.5 41 2.5000000
43 2.5 43 2.4975600
68
45 2.5 45 2.5000000
47 2.5 47 2.4975600
49 2.5 49 2.5000000
51 2.5 51 2.5000000
53 2.5 53 2.5000000
55 2.5 55 2.5000000
57 2.5 57 2.5000000
59 2.5 59 2.5000000
61 2.5 61 2.5000000
63 2.5 63 2.5000000
65 2.5 65 2.5000000
67 2.5 67 2.5000000
69 2.5 69 2.5000000
71 2.5 71 2.5000000
73 2.5 73 2.5000000
75 2.5 75 2.5000000
77 2.5 77 2.5000000
79 2.5 79 2.5000000
81 2.5 81 2.5000000
83 2.5 83 2.5000000
85 2.5 85 2.5000000
87 2.5 87 2.5000000
89 2.5 89 2.5000000
91 2.5 91 2.5000000
93 2.5 93 2.5000000
69
95 2.5 95 2.5000000
97 2.5 97 2.5000000
99 2.5 99 2.5000000
70
145 2.5 145 2.5000000
71