For the u12m4t motor 57 2 note kb and b both

Info iconThis preview shows page 1. Sign up to view the full content.

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

Unformatted text preview: -step input? For the U12M4T motor 5.7 / = / 2 / • Note - Kb and B both increase the damping - Kb is equivalent to a negative feedback - Increasing K1 decreasing damping - K1 can be used to control the system proportional control Performance • Steady-state error - 1 Assume unit step input: →∞ → / / =1 * No stead-state error for a unit step input - Δ Consider a load of robot link = For steady-state: Δ= Increasing K1 decreasing position error • Problems with proportional control: - Overshoot increases with increasing gain - Steady-state error decreases with increasing gain...
View Full Document

This document was uploaded on 01/20/2014.

Ask a homework question - tutors are online