b) I(s)ControlError (E)Reference (R)Controller(C)Signal (V.)!Output (8)PlantDynamics (P)Өa) P(s)please clearly specify your assumptions and approaches.The arm is actuated by a motor (Fig. 1(a)), with a schematic shown below.RmuturVsVmtonque(t=)shoulder joindamping BArm length (1)g(a)Masy(m)(b)Fig 1. Inverted pendulum system schematics (mass = 10kg, g = 10 m/s², arm length = 1 m,damping ratio = (5/Team_number) +0.5 Nms/rad).•Gear ratio, etc. not given in the documents can be defined with your assumption.

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Answered: b) I(s) Control Error (E) Reference (R)…

Understanding Motor Controls

4th Edition

ISBN:9781337798686

Author:Stephen L. Herman

Publisher:Stephen L. Herman

Chapter54: The Operational Amplifier

Section: Chapter Questions

Problem 7RQ: Name two effects of negative feedback.

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1) A slider-crank mechanism is a planar mechanism that performs a conversion between the translational motion of a slider and the rotational motion of a crank. It is used in many different engineering applications. A familiar example will be a piston engine. In Figure 1, a basic slider- crank mechanism is shown. В b dạc Figure 1. A basic slider-crank mechanism 0< 0< 2n; b = 20 cm; I= 50 cm 1- Find the angle of Ø and the distance of dAC as a function of 0. 2- If crank AB has a rotational speed of w = 1000 rev/min; find velocity of C (Vc) and velocity and acceleration of link BC (vBC & aBC)
Weight Ple Figure 4: Schematic of a pile driver f(t) ↓ m du m² + bv=f(1) by pile Figure 5: First-order model of the pile in soil 5. Figure 4 shows a pile driver that is used to drive piles into soil to provide foundation support for buildings. Two major components of a pile driver are a pile and a weight. The pile is in the form of a long rod going into the soil. The weight is to impact the pile at the top with an impulsive force, thus driving the pile into the soil. Figure 5 shows a first-order model of the pile in the soil. The impulsive force produced by the weight is f(t). The resistance of the soil is modeled via a viscous damping coefficient. b. The weight of the pile is balanced by the normal forces in the soil, so it does not need to be considered. In addition, the elasticity of the soil is ignored. Let z(t) and v(t) be the downward displacement and velocity of the pile, respectively. The equation of motion governing the pile velocity v(1) is where m is the mass of the pile.…
Questions: 1. Given a fourbar linkage with the link lengths L1 = d = 70 mm, L2 = a = 30 mm, L3 =b= 100 mm, L4 = c = 50 mm. For 2 = 135º, @2 = 95 rad/s, a2= 0 rad/sec². Find a 3, a 4, Aa, ABa, Aß, for the open circuit by a) Graphical method b) Vector loop method. Then compare the obtained results.
Define the following examples as path, motion, or function generation cases:
8.) The linkage below: link I is ground, AB is link 2 BC is link 3, slider is link 4. IC 34 is @ what point? E B •IF A
throttle actuator velocity v intake pipe throttle angle (aTH) slope (a) For vehicle speed control example our control task as follow: Desired (specified) behaviour: keep vehicle speed constant Manipulation: automatically adjust gas/brake pedal position Show block diagram representation clearly.
K:42)
Task 4): If you are required to design a PID controller f for the Chassis, what model you should derive and what procedure you would follow and what PID design parameters you could suggest and why? m2 X2 k2 f m1 X1 ki Figure 4 ww
KxM = Jö + bø - co where Ø denotes the angle of attack (output). M is the correction moment (input), K, is the moment gain, J is the moment of inertia along the rotation axis, b is the coefficient of Viscous friction, C is the coefficient of gravitational loading due to offset. J=7400kgm^2c=4670 Nm/rad, b=3550 Nms/rad, Kx =5000 Initial conditions are zero. Design a LEAD-LAG Controller such that the maximum overshoot is 12% and the settling time is 4 seconds and the steady state error is less than 0.3 when we implement unit step as the input. Clearly explain the necessary steps. Use a MATLAB Script for the controller design. Using MATLAB/Simulink, simulate the controller. Use a 2-input scope to plot the output and the step input. Show the Simulink model and its parameters. Make a sketch of the step input and system response Indicate the steady state error.
2. Given a fourbar crank-slider linkage with the link lengths L2 = a = 40 mm, L3 = b = 120 mm, offset =c = -20 mm. For 2 = 60°, w2 = 5 rad/s, a2= 5 rad/sec², find a 3, A4, ABA, AB, for open circuit by a) Graphical method b) Vector loop method. Then compare the obtained results.
Problem 3: The RPH robot of Figure 3 is shown in its zero position. Determine the end- effector zero position configuration M, and the screw axes S; in {s}. n. F -inta. Sorowo- Zs {s} Xs L₁ ŷs Lo 0₁5 L2 02 {b} zb 103 pitch h = 0.1 m/rad Ấb ŷb L3 Figure 3: An RPH open chain shown at its zero position. All arrows along/about the joint axes are drawn in the positive direction (i.e., in the direction of increasing joint value). The pitch of the screw joint is 0.1 m/rad, i.e., it advances linearly by 0.1 m for every radian rotated. The link lengths are Lo = 4, L₁= 3, L2= 2, and L3= 1 (figure not drawn to scale).
please solve by hand

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