Question

Draw the diagram for the unity feedback control system, that is, the electro-mechanical system with controller and feedback using general parameters. 3) 4) Calculate K and K using the Torque-Speed curve (Figure 2), and information from Table 1 the translational link. The robot has an torque motor for a joint in Flgure1 ropresents a Single Joint robot model wnh Figure 1: Singla Joint Robot Model TONm) 恭.east Figure 2: Torque-Speed Qurve J Ikgm21-Armature Inertia DArmature Damping Coefficient R, [ohm]-Armature Resistance J [kgm1-Load Inertia DLoad Damping Coefficient N Number of eeth of the input gear (motor rad Nms rad gear) ohm LArmature Inductance Number of teeth of the cutput gear (load gear) m[kg-Translational link mass I. [A]-Armature Current Ns Doad Damping Coeffiient V-Armature Voltage Tnair [Nm)- Stal Torque rIm1 radius rad o-1-No-load angular velocity Table 1: Information for the Electro-Mechanical System 1 DOF Robot Parameters 1.140 Nms Da 0.00148 rad R lohm ohm 0.0048 I [A] 8.25 97.2 150 10 np-load Nms 100 150

Answer 1

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