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HW4 - ENME462 Vibrations, Spring2010 st Homework4:...

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ENME 462 Vibrations, Controls and Optimization II Spring 2010 Homework 4 Page 1 of 3 Dr. S Bergbreiter Homework 4: Steady State Error and 1 st Order Transient Response Due Wednesday, March 3 by 5pm in drop box outside 2170 Martin *Include your name, section and the date on each assignment and draw a box around your answer! Include your hours spent on this homework in the upper right hand corner 1. A robotic arm often uses servo motors at each joint to control the joint angle. In this problem, you will design a servo motor using a controller and the DC motor that you evaluated in Homework 3. This servo motor is described using the physical system and the simplified block diagram below. 2 / ( / ) t m t b K R J s KK R b s a. What is the system type? b. Show that the steady state error for a step input is zero. Assume J m = 1 kg m 2 , b = 2 N m s/rad, K t = 1 N m/A, K b = 1 V s/rad, R = 1 and a controller gain of 10.
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