HW12 - ME 375 Out Thur April 23 Due Wed April 29 HOMEWORK...

Info iconThis preview shows pages 1–2. Sign up to view the full content.

View Full Document Right Arrow Icon
ME 375 HOMEWORK 12 Spring 2009 Out: Thur., April 23 Due: Wed., April 29 PROBLEM 1 (30%) Given the following expression for the denominator of the closed-loop transfer function for a system that uses a proportional controller K : 2 1 10 ( 2)( 10 34) K ss s += ++ + (a) Determine the roots of this characteristic equation when K = 0. (b) To get an idea of where the roots go when K gets large, determine the imaginary axis crossings. (Hint: set s = j ω and solve for and K .) (c) Sketch the root locus on graph paper. You can use Matlab command rlocus to help you. (d) Determine the range of gain K for which this system is stable. PROBLEM 2 (35%) The dynamics of one axis of a Cartesian robot with compliance in the power transmission element are described by the following transfer function: () 2 22 1 2 Xs Fs = + Since vibration during motion is to be minimized, it has been suggested that the acceleration ax = ±± be used for feedback. (a) Determine the transfer function that relates the transformed acceleration A 2 ( s ) to the transformed force F ( s ).
Background image of page 1

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full Document Right Arrow Icon
Image of page 2
This is the end of the preview. Sign up to access the rest of the document.

{[ snackBarMessage ]}

Page1 / 2

HW12 - ME 375 Out Thur April 23 Due Wed April 29 HOMEWORK...

This preview shows document pages 1 - 2. Sign up to view the full document.

View Full Document Right Arrow Icon
Ask a homework question - tutors are online