Lab2 - SYSC3600 Lab2 Hesham Alshaebi 100698585 3.2.1 The...

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SYSC3600  Lab2 Hesham Alshaebi, 100698585
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3.2.1 The block diagram of the Servo is shown in figure 1. By comparing the responses to a step function coming from the subsystem describing the Servo equation and the transfer function of the Servo we get the signal shown in figure 2. We can see that the two blocks provide the same response with a very small discrepancy due to numerical rounding during calculation. The errors are between -2 to 4 x 10 -16 . 3.2.2 Table 1 A ζ w n w d Behavior 4 2.0700 0.2472 rad 0+0.4480i rad Overdamped 17 1.0041 0.5096 rad 0+0.0461i rad Overdamped 35 0.6998 0.7312 rad 0.5223 rad Underdamped 300 0.2390 2.1407 rad 2.0786 rad Underdamped 3.2.3 Table 2 A Final Value 4 0.0833 rad 17 0.0833 rad 35 0.0833 rad 300 0.0833 rad
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Notice that A does not change the final value of the output angle. It only affect how much to amplify the difference between e1 and e2. Which in turn will make the motor go faster or slower depending on the amplification but it will not change the final value
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This note was uploaded on 07/16/2009 for the course SYSC 3600 taught by Professor John bryant during the Winter '08 term at Carleton CA.

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Lab2 - SYSC3600 Lab2 Hesham Alshaebi 100698585 3.2.1 The...

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