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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 tonque(t) shoulder joint damping(B) Arm length (/) Mass(m) 50 g The customer wants to make a system to have 1) O steady-state error 2) Less than 10% overshoot 3) Less than 1 secs of settling time For a step input. 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). 1 b) I(s) Error (E) Control Reference (R) Controller (C) Signal (V) Output (e) Plant Dynamics (P) Ө a) P(s) please clearly specify your assumptions and approaches. The arm is actuated by a motor (Fig. 1(a)), with a schematic shown below. R 000 V's Vm motor tonq shoulder joint damping B) Arm length() (a) Mass(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). • Motor specifications could be looked up in a catalog in Maxon motor .ou can as

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 tonque(t) shoulder joint damping(B) Arm length (/) Mass(m) 50 g The customer wants to make a system to have 1) O steady-state error 2) Less than 10% overshoot 3) Less than 1 secs of settling time For a step input. 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). 1 b) I(s) Error (E) Control Reference (R) Controller (C) Signal (V) Output (e) Plant Dynamics (P) Ө a) P(s) please clearly specify your assumptions and approaches. The arm is actuated by a motor (Fig. 1(a)), with a schematic shown below. R 000 V's Vm motor tonq shoulder joint damping B) Arm length() (a) Mass(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). • Motor specifications could be looked up in a catalog in Maxon motor .ou can as

Automotive Technology: A Systems Approach (MindTap Course List)
Automotive Technology: A Systems Approach (MindTap Course List)
6th Edition
ISBN:9781133612315
Author:Jack Erjavec, Rob Thompson
Publisher:Jack Erjavec, Rob Thompson
Chapter22: Basics Of Electronics And Computer Systems
Section: Chapter Questions
Problem 4RQ: Means that data concerning the effects of the computers commands are fed back to the computer as an...
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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 tonque(t) shoulder joint damping(B) Arm length (/) Mass(m) 50 g The customer wants to make a system to have 1) O steady-state error 2) Less than 10% overshoot 3) Less than 1 secs of settling time For a step input. 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). 1
Transcribed Image Text: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 tonque(t) shoulder joint damping(B) Arm length (/) Mass(m) 50 g The customer wants to make a system to have 1) O steady-state error 2) Less than 10% overshoot 3) Less than 1 secs of settling time For a step input. 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). 1
b) I(s) Error (E) Control Reference (R) Controller (C) Signal (V) Output (e) Plant Dynamics (P) Ө a) P(s) please clearly specify your assumptions and approaches. The arm is actuated by a motor (Fig. 1(a)), with a schematic shown below. R 000 V's Vm motor tonq shoulder joint damping B) Arm length() (a) Mass(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). • Motor specifications could be looked up in a catalog in Maxon motor .ou can as
Transcribed Image Text:b) I(s) Error (E) Control Reference (R) Controller (C) Signal (V) Output (e) Plant Dynamics (P) Ө a) P(s) please clearly specify your assumptions and approaches. The arm is actuated by a motor (Fig. 1(a)), with a schematic shown below. R 000 V's Vm motor tonq shoulder joint damping B) Arm length() (a) Mass(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). • Motor specifications could be looked up in a catalog in Maxon motor .ou can as
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