A pendulum that is powered via a series elastic actuator can be modelled as follows (simplified) Jy (double dot) + By (dot) + K(y-u) + mglsin (y) where y is output and u is input j = 0.2 [kgm^2] (Inertia) K = 60 [N.m/rad] (Spring stiffness) B = 0.05 [N.m.s/rad] (damping coefficient) g 9.81 [m/s^2] (gravitational acceleration) m = 2.5 [kg] (mass) 1 = 0.5 [m] (pendulum length) yo = 0.25 [rad] y0 (dot) = -0.2 [rad/s] = Simulate mechanical system using Matlab/Simulink when the input is a unit step Using a scope, plot the input and output.

A pendulum that is powered via a series elastic actuator can be modelled as follows (simplified) Jy (double dot) + By (dot) + K(y-u) + mglsin (y) where y is output and u is input j = 0.2 [kgm^2] (Inertia) K = 60 [N.m/rad] (Spring stiffness) B = 0.05 [N.m.s/rad] (damping coefficient) g 9.81 [m/s^2] (gravitational acceleration) m = 2.5 [kg] (mass) 1 = 0.5 [m] (pendulum length) yo = 0.25 [rad] y0 (dot) = -0.2 [rad/s] = Simulate mechanical system using Matlab/Simulink when the input is a unit step Using a scope, plot the input and output.

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

Section: Chapter Questions

Problem 1.1MA

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Properties of Fluids

The term fluid represents a type of substance that can easily change its shape under any external pressure/force and can flow. Fluids can acquire any shape in which it is stored and can resist normal stresses but cannot resist shear stress in rest condition. Whenever external shear stress is applied to fluids, it starts to flow. The fluids may be liquid or gas. Example- water, air, etc.

Question

A pendulum that is powered via a series elastic
actuator can be modelled as follows (simplified):
Jy (double dot) + By (dot) + K(y-u) + mglsin (y)
where y is output and u is input
= = 0
j = 0.2 [kgm^2] (Inertia)
to XL.
K = 60 [N.m/rad] (Spring stiffness)
B 0.05 [N.m.s/rad] (damping coefficient)
g 9.81 [m/s^2] (gravitational acceleration)
m =
2.5 [kg] (mass)
1
0.5 [m] (pendulum length)
=
=
yo = 0.25 [rad]
y0 (dot) = -0.2 [rad/s]
Simulate mechanical system using Matlab/Simulink
when the input is a unit step
Using a scope, plot the input and output.

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