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RME30002 Control and Automation
创建日期：2024-05-27 16:15:43
标签： RME30002
Control and Automation

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RME30002 Control and Automation

Assignment
Due on Monday, Week 9 (1 May 2023)
1. A force F is applied to the mass 2 in Figure 1, where 1 2 are the
spring constants, 1 is the damping constant and 2 is the friction coefficient,
1 2 are the displacement. Find the transfer function 1/.
Figure 1
(5 Marks)
2. Consider the torsional mechanical system in Figure 3(a). The torque due to the
twisting of the shaft is –; the damping torque due to the breaking device is – ; the disturbance torque is (); the input torque is (); and the moment
of inertia of the mechanical system is J. the transfer function of the torsional
mechanical system is:
() = 1 �
2 + � � � + �
A closed loop control system for the system is shown in Figure 3(b).
Suppose the desired angle = 0°, = 6, = 1, = 0.9.
(a) Determine the open loop response () of the system for a unit step
disturbance () using MATLAB (set () = 0).
(b) With the controller gain 0 = 46, determine the closed loop response ()
to a unit step disturbance () by calculating the value of percentage
overshoot, peak time and settling time (2% criterion),
(c) Using Matlab, plot the unit step response of the closed-loop system and
estimate the percentage overshoot from the plot. Compare the result with
part (b).
(d) Co-plot the open loop versus the closed loop response to the disturbance
input. Discuss your results and make an argument for using closed loop
feedback control to improve the disturbance rejection properties of the
system.
2
Figure 2
(8 Marks)
3. The shoulder joint of a robotic arm uses a DC motor with armature control and
a set of gears on the output shaft. The model of the system is shown in Figure
3 with disturbance torque () which represents the effect of the load.
(a) When the desired angle input is a step ( ) /d s A sθ = and the load disturbance
is zero, determine the steady-state errors when ( )cG s K= and ( ) /cG s K s=
(b) When ( ) 0d sθ = and the load disturbance is ( ) /dT s M s= , determine the
steady-state errors when ( )cG s K= and ( ) /cG s K s= .
(c) Discuss the effects of the controller.
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关键词一 关键词二 关键词三 关键词四 关键词五 和法规和的发更好的风格和 ECON 615 FINC 612 CSC148 COMP 639 ACCT 203 ACCT 211 PSYC 101 MTH2009 COMP52315 PSYCO 432 statistics MATH4063 11 xxx 1 MA1MSP MAST30028 MATH3888 CS341 EEE30002 ES2F5 MCD4160 CC0933 ECON 1101 MCHM3001 CHEM3118 COMMGMT 2511 COMP41280 STAT 631 24T1 IRE379 SENG365 ECON433 FIT3139 MATH4602 LING5621M FINS5516 ECON3208 MN2177 L2 SM EEET1415 Finance DS4023 COMP3004 7CCSMRTS K1S5B6 Stat230 CSCI4211 CSI2132 ECON30130 MAS6100 ENVS222 COM2107 INFO1112 STAT 4004 FIT2100 comp2022 COMP4691 Physics 307 Econ 659 probability CSCI316 fir29 CSCI203 COMP3160 COMP6714 INFO1113 Physics 7B Physics Photonics S203031 STAT2005 COMP90015 CSCI 2110 CSCC46 Information CSC477 COMP4650 Statistical COMP 346 COMP1017 ELEC340 MATH1007 Programming function STAT 244 CS 134 Java cse13s Math 108A FW20 ECON3389 CSE 130 Science 331 COMP9020 engineering COSC 445 CSE 5523 GAME2012 visualization MATH 235 Math 370 CSC343 COGS 108 EE524 COMP10200 STAT 416 3FK4 MSCI 311 ECON6113 ACC40700 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