Homework Help is Here – Start Your Trial Now!
Engineering
Mechanical Engineering
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

Elements Of Electromagnetics
Elements Of Electromagnetics
7th Edition
ISBN:9780190698614
Author:Sadiku, Matthew N. O.
Publisher:Sadiku, Matthew N. O.
ChapterMA: Math Assessment
Section: Chapter Questions
Problem 1.1MA
See similar textbooks
icon
Related questions
Question
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
Expert Solution
steps

Step by step

Solved in 2 steps with 2 images

SEE SOLUTIONCheck out a sample Q&A here
Blurred answer
Similar questions
  • SEE MORE QUESTIONS
Recommended textbooks for you
Elements Of Electromagnetics
Elements Of Electromagnetics
Mechanical Engineering
ISBN:
9780190698614
Author:
Sadiku, Matthew N. O.
Publisher:
Oxford University Press
Mechanics of Materials (10th Edition)
Mechanics of Materials (10th Edition)
Mechanical Engineering
ISBN:
9780134319650
Author:
Russell C. Hibbeler
Publisher:
PEARSON
Thermodynamics: An Engineering Approach
Thermodynamics: An Engineering Approach
Mechanical Engineering
ISBN:
9781259822674
Author:
Yunus A. Cengel Dr., Michael A. Boles
Publisher:
McGraw-Hill Education
Control Systems Engineering
Control Systems Engineering
Mechanical Engineering
ISBN:
9781118170519
Author:
Norman S. Nise
Publisher:
WILEY
Mechanics of Materials (MindTap Course List)
Mechanics of Materials (MindTap Course List)
Mechanical Engineering
ISBN:
9781337093347
Author:
Barry J. Goodno, James M. Gere
Publisher:
Cengage Learning
Engineering Mechanics: Statics
Engineering Mechanics: Statics
Mechanical Engineering
ISBN:
9781118807330
Author:
James L. Meriam, L. G. Kraige, J. N. Bolton
Publisher:
WILEY
SEE MORE TEXTBOOKS