B. Nise, Chapter 7, Experiment 2, PrelabYou are given the model of a single joint of a robotic manipulator shown in Figure 7.26 (Spong,2005), where B is the coefficient of viscous friction, d(s) is the desired angle, 0(s) is the outputangle, and D(s) is the disturbance. We want to track the joint angle using a PD controller, whichwe will study in Chapter 9. Assume J = B = 1. Find the step and ramp responses of this system forthe following combinations of PD gains (Kp, KD): (16, 7), (64, 15), and (144, 23).FIGURE 7.26D(s)PD controllerPlantOd(8)B(s)1Kp+ KDSJs² + BsAssume D(s) 0=

I have used MATLAB to compute and plot the response as given below. clc;close all;clear all;% define…

Answered: B. Nise, Chapter 7, Experiment 2,…

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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Dynamics of a current controller DC motor is given as follows: KimJm+bB where, ẞ denotes the shaft angle (output), i, is the motor current (input), K, is the torque constant, im is rotor inertia along the rotation axis, b, is the coefficient of viscous friction for the rotor. im= 0.48gm, bm = 0.2Nms/rad, K, = 0.96 Nm/A Initial conditions are zero. Obtain the transfer function of the system, Design a lead controller such that the static velocity error constant is improved by a factor of 13 when compared to the case of unit feedback. Use unit ramp for both cases. Moreover, gain margin should be at least 10 dB and the phase margin should be at least 40 degrees. Clearly show all the necessary steps. (When computing max. phase lead, consider additional 34.33 degrees for safety) Using MATLAB's margin function, indicate the phase margin and the gain margin of the controlled system. Show this Bode plot, steps used. Using MATLAB/Simulink, simulate the controller. Compare it with respect to unit…
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