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1 2 2 University of Wollongong MECH321 Autumn 2016 - Tutorial 8 SolutionConsider a remotely controlled pick up arm for collecting waste bags. The tip position of the hydraulic arm is controlled through a feedback control system, where a proportional controller is employed as the controller.1DesiredControllerHydraulic ArmRealarm positionH1(s)H2(s)G(s)arm positionG(s)=Sensor6 1, H1(s)= 3, H2(s)=(3s + 1)(s+ 1) 9(a) (20%) Determine the expressions for the magnitude and phase angle of the open-loop transfer function. Answer:Open-loop transferfunction is given by, Magnitude given by, P(s) =2(3s + 1)(s + 1)2|P(jω)|=(j3ω+1)(jω+1)=|2||(j3ω+ 1)||(jω+ 1)|2=√√9ω + 1 ω + 11 Picture adapted from ”Modern Control Systems”,10E, page 569, Dorf & Bishop.
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