Electric Motor Control
Electric Motor Control
10th Edition
ISBN: 9781133702818
Author: Herman
Publisher: CENGAGE L
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Chapter 16, Problem 5SQ
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Explain the reason why bimetal strip is often formed into a spiral.

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Q1 Q2 A control system is described by the block diagram in Figure 1 where R(s) is reference input and Y(s) is system output. (a) Find the transfer function Y(s)/R(s) using block diagram reduction. (b) Determine the steady state output in response to the unit step input. R(s) + + S 5 -~ $2 1 Y(s) 2s s² +2 Figure 1 A PID controller is designed to control the robot leg, and the control system is shown in Figure 2 where K is a positive gain. (a) Find the closed-loop transfer function (s)/R(s). (b) Use the Routh-Hurwitz stability criterion to determine the range of the parameter K such that the closed-loop system is stable. (s) 2 K 1+-+s s² + 3s+2 S R(s) PID Controller Robot Leg dynamics Figure 2
Q3 (a) For the digital control system given in Figure 3, by adding phantom samplers to show that the z transfer function of the closed-loop system is given by C(z) R(z) G(z) 1+ G(z) H₁H₂(z) + R(s) G(s) C(s) H₂(s) H₁(s) Figure 3 (b) The analogue compensator 5s + 1 D(s) = 0.4s +1 is implemented digitally with sampling period 0.2 seconds to control the depth of a submarine system. Use the pole-zero mapping method to find a digital approximation to the analogue compensator.
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