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b) I(s) Control Error (E) Reference (R) Controller (C) Signal (V.) !Output (8) 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 mutur Vs Vm tonque(t=) shoulder join damping B Arm length (1) g (a) Masy(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). • Gear ratio, etc. not given in the documents can be defined with your assumption. 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).

b) I(s) Control Error (E) Reference (R) Controller (C) Signal (V.) !Output (8) 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 mutur Vs Vm tonque(t=) shoulder join damping B Arm length (1) g (a) Masy(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). • Gear ratio, etc. not given in the documents can be defined with your assumption. 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).

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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please give me the step response gain margin, phase margin and bode plots using octave

b) I(s) Control Error (E) Reference (R) Controller (C) Signal (V.) !Output (8) 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 mutur Vs Vm tonque(t=) shoulder join damping B Arm length (1) g (a) Masy(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). • Gear ratio, etc. not given in the documents can be defined with your assumption.
Transcribed Image Text:b) I(s) Control Error (E) Reference (R) Controller (C) Signal (V.) !Output (8) 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 mutur Vs Vm tonque(t=) shoulder join damping B Arm length (1) g (a) Masy(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). • Gear ratio, etc. not given in the documents can be defined with your assumption.
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).
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(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).
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