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Unformatted text preview: step input) or Simulink for extra credit. d. Instead of moving the robot arm to a given position, you decide to continually rotate the joint at a constant velocity with an input r(t) = t. What is the steady state error in this case? e. ** Confirm this result in Matlab or Simulink for extra credit. f. Find a value of Kc that will reduce ess below 0.1 rad. A more realistic servo‐motor block diagram is shown below. In this case, the block next to the input represents a gain of V/rad for the knob input and the block in the feedback path represents a sensor gain of V/rad. Homework 4 Page 1 of 3 Dr. S Bergbreiter ENME 462 Vibrations, Controls and Optimization II Spring 2010 Kt / R
Jms (KKb / Rb)s
2 g. What is the system type? h. What is the steady state error for a step input? Assume Kinput = 5 V/rad and Ksensor = 20 V/rad. i. ** Confirm this result in Matlab or Simulink for extra c...
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This document was uploaded on 03/21/2014.
- Spring '14