Modelling hint: There are 3 moving bodies in this system. You need to use a free body diagram for each of them. In those free-body diagrams assume there are distinct tensions on the cable: T1 and T2. T2 T1 Merge those 3 equation of motion derived from those diagrams and obtain the relationship between the torque and the position of the elevator cabin. Then, construct a feedback loop to design a closed-loop controller as below: T21 T1 me me Disturbance Controller )→(Plant mp
Modelling hint: There are 3 moving bodies in this system. You need to use a free body diagram for each of them. In those free-body diagrams assume there are distinct tensions on the cable: T1 and T2. T2 T1 Merge those 3 equation of motion derived from those diagrams and obtain the relationship between the torque and the position of the elevator cabin. Then, construct a feedback loop to design a closed-loop controller as below: T21 T1 me me Disturbance Controller )→(Plant mp
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radius is 1 meter
Transcribed Image Text:Modelling hint:
There are 3 moving bodies in this system. You need
to use a free body diagram for each of them. In
those free-body diagrams assume there are distinct
tensions on the cable: T1 and T2.
T1
Merge those 3 equation of motion derived from
those diagrams and obtain the relationship
between the torque and the position of the
elevator cabin. Then, construct a feedback loop to
design a closed-loop controller as below:
T2
T1
me
me
Disturbance
Controller
0→Plant
yx
y t
mp
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