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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 torque(tm) shoulder joint damping(B) Arm length (1) 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. Mass(m) b) I(s) Error (E) Control Reference (R) Controller (C) Signal (V) a) P(s) Plant Dynamics (P) !Output (0) 1. Obtain transfer functions: (a) P(s), Plant-including actuator and pendulum (b) T(s), Closed-loop transfer function (e/R) 2. Design a controller to have 0 steady state error for a unit step input. [Unit step input R(t), where R(t) = 1 if >>0, 0 otherwise] 3. Design a controller to have a close to desired transient response, and specify transient response for your controller (Peak time, 2% settling time, %OS) (Try your best to have the best response. It is not necessary to meet the requirements.) While your team solves this project, please clearly specify your assumptions and approaches. The arm is actuated by a motor (Fig. 1(a)), with a schematic shown below. R W Wm j Arm length Mass(m) (b) (a) 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).

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(tm) shoulder joint damping(B) Arm length (1) 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. Mass(m) b) I(s) Error (E) Control Reference (R) Controller (C) Signal (V) a) P(s) Plant Dynamics (P) !Output (0) 1. Obtain transfer functions: (a) P(s), Plant-including actuator and pendulum (b) T(s), Closed-loop transfer function (e/R) 2. Design a controller to have 0 steady state error for a unit step input. [Unit step input R(t), where R(t) = 1 if >>0, 0 otherwise] 3. Design a controller to have a close to desired transient response, and specify transient response for your controller (Peak time, 2% settling time, %OS) (Try your best to have the best response. It is not necessary to meet the requirements.) While your team solves this project, please clearly specify your assumptions and approaches. The arm is actuated by a motor (Fig. 1(a)), with a schematic shown below. R W Wm j Arm length Mass(m) (b) (a) 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).

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 torque(tm) shoulder joint damping(B) Arm length (1) 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. Mass(m)
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 torque(tm) shoulder joint damping(B) Arm length (1) 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. Mass(m)
b) I(s) Error (E) Control Reference (R) Controller (C) Signal (V) a) P(s) Plant Dynamics (P) !Output (0) 1. Obtain transfer functions: (a) P(s), Plant-including actuator and pendulum (b) T(s), Closed-loop transfer function (e/R) 2. Design a controller to have 0 steady state error for a unit step input. [Unit step input R(t), where R(t) = 1 if >>0, 0 otherwise] 3. Design a controller to have a close to desired transient response, and specify transient response for your controller (Peak time, 2% settling time, %OS) (Try your best to have the best response. It is not necessary to meet the requirements.) While your team solves this project, please clearly specify your assumptions and approaches. The arm is actuated by a motor (Fig. 1(a)), with a schematic shown below. R W Wm j Arm length Mass(m) (b) (a) 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).
Transcribed Image Text:b) I(s) Error (E) Control Reference (R) Controller (C) Signal (V) a) P(s) Plant Dynamics (P) !Output (0) 1. Obtain transfer functions: (a) P(s), Plant-including actuator and pendulum (b) T(s), Closed-loop transfer function (e/R) 2. Design a controller to have 0 steady state error for a unit step input. [Unit step input R(t), where R(t) = 1 if >>0, 0 otherwise] 3. Design a controller to have a close to desired transient response, and specify transient response for your controller (Peak time, 2% settling time, %OS) (Try your best to have the best response. It is not necessary to meet the requirements.) While your team solves this project, please clearly specify your assumptions and approaches. The arm is actuated by a motor (Fig. 1(a)), with a schematic shown below. R W Wm j Arm length Mass(m) (b) (a) 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).
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