ps06 - MASSACHUSETTS INSTITUTE OF TECHNOLOGY Department of...

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Unformatted text preview: MASSACHUSETTS INSTITUTE OF TECHNOLOGY Department of Mechanical Engineering 2.004 Dynamics and Control II Fall 2007 Problem Set #6 Posted: Friday, Oct. 19, 07 Due: Friday, Oct. 26, 07 In this Problem Set, we will continue our analysis of the DC motor system of Lecture 12 with pinionrack and velocity feedback, except this time we will add a different twist: we will make the motor shaft and rack compliant. Effectively, this means attaching a rotational spring of constant C r and a translational spring of constant C t to the shaft and rack, respectively, as shown in the model below: Note that to avoid overcomplicating our model, we have gone back to neglecting the motors inductance L . As in Problem Set #6, we will walk you through the analysis of the system, except this time we will be evaluating the result of using different controllers in the compliant system. Therefore, we will be using Matlab s SISO tool to obtain the root locus and step responses numerically. Before you attempt this problem set, you should familiarize yourself with how sisotool works, especially in conjunction with the LTI tool to obtain the transients in realtime as you adjust the feedback...
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ps06 - MASSACHUSETTS INSTITUTE OF TECHNOLOGY Department of...

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