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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explain please. Which type(s) of systems will oscillate in response to a step function?
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For the system shown in the Fig.2, determine the steady state error (ess) for the unit ramp input .How can you modify, change or replace the controller in order to reduce or eliminate the steady state error (ess).(prove that mathematically). ST R(s) 1 Fig.2 00.² s(s+250) C(s)
The arm angle, e (t), is controlled by a closed-loop system. The input (reference) to the system is the desired angle, and the output is the actual angle. A controller uses the difference between the desired angle and the actual angle to drive the motor, resulting in a motor torque applied to the system. motor torque(t) houlder joint damping(B) The customer wants to make a system to have 1) O steady-state error 2) Less than 10% overshoot 3) Less than 1- For a step inp **ling time Arm length (/) Mass(m) g design a controller to meet the design spec above. 1) Design a controller to meet the design spec. 2) Evaluate your controller using step response (time response) 3) Evaluate your closed-loop system using frequency response (e.g., Bandwidth, Gain margin. Phase margin).
One of the disadvantage of negative feedback loop is lag caused because it can only be exerted after controlled variable has been disturbed. In order to minimize lag between a change in a controlled variable and the action of the effector, it is advantageous for the body to anticipate any likely change. Which one of the following physiological mechanism achieves this? Select one: a. Feedbackward control b. Feedforward control c.Positive feedback control d. All of the above e. None of the above
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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…
3. Sketch a house's heating system which containing a gas furnace that heats water which circulates to radiators on the walls, and a thermometer that is connected to a control module that can turn the furnace on or off. The outside temperate is Text, the inside temperature is T, and the desired temperature is Ta. Describe the elements of the feedback control loop.
1. (Without Octave) Design a controller (C) to have A) a zero steady-state error B) less than 20% overshoot 1 с s + 10 2. Discuss whether you can design a controller, having requirement at question 1 as well as 0.1 second settling time. 3. F(s) = = 1 s(s+1) Find angle of F(s) at the point s = -2+j2. 4. Given a unity feedback system that has the forward transfer function G(s) = - K s s² + 4s +8 a) Calculate the angle of G(s) at the point (-3+j0) by finding the algebraic sum of angles of the vectors drawn from the zeros and poles of G(s) to the given point. b) Determine if the point specified in a) is on the root locus. c) If the point specified in a) is on the root locus, find the gain, K, using the lengths of vectors.
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