EBK ELECTRIC MOTOR CONTROL
EBK ELECTRIC MOTOR CONTROL
10th Edition
ISBN: 9780100784598
Author: Herman
Publisher: YUZU
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Chapter 21, Problem 2SQ
To determine

Explain the purpose of interlocking.

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A robot gripper is shown on Fig.1a. The block diagram of the control system is shown in Fig.1b. This system is conditionally stable because it is stable only for a range of the gain K. Using the Routh-Hurwitz criterion method to determine the range of gain for which the system is stable. Find the steady-state error due to unit step input. Sketch the root locus of the system and analyze its stability. Find the value of K so that the phase margin is minimum, and record the values of the phase margin, gain margin, Mr, and BW. Then draw the Bode plot of the system and discuss its stability using the Nyquist stability method. What is the value of this maximum overshoot for both large and small values of K due to unit step input? Draw the response of the open-loop and closed-loop of the system according to the unit step system for k=15, 25, 50. Discuss how to improve the system response if needed.
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