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
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1) Develop the electrical and mechanical equations for the electro-mechanical system. 2) Develop ...
Draw the diagram for the unity feedback control system, that is, the electro-mechanical system wi...
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...
u(t) ta(t) e(t) A DC motor is a electro-mechanical system, where mechanical motor is coupled with...
u(t) ta(t) e(t) A DC motor is a electro-mechanical system, where mechanical motor is coupled with an electrical circuit. The motor shows up in the circuit equation as a voltage loss proportional to the motor speed, and the electrical system shows up as the input torque proportional to the armatura current DC motor equations are given by dw(t) dialt) where J is the mass moment of inertia in kg-m2, b is the damping coefficient in N-m-s, K is the motor...
6 Find the transfer function of the system of the follawing system if we want to...
6 Find the transfer function of the system of the follawing system if we want to control the angular displacement of inertia / due to the torque T(t. The numerical parameters are 1 Nm/rad, D K = Da 1 Nms/rad and J Ja1 kgm2 D2 TC) 020 03(0) K DL D2 D3
Question 3 Find the transfer function, G(s) s) / T(s), for the rotational mechanical system in...
Question 3 Find the transfer function, G(s) s) / T(s), for the rotational mechanical system in Fig. Q3 below. The gears have inertia and bearing friction as shown. (20 marks) 3 Nm/rad 2 Nms/rad + 1 kg/m? N3 = 100 N2 = 100 T(t) N4 = 20 N = 20 0.04 Nms/rad Fig. Q3
Consider the electro-mechanical feedback control system shown in Figure 3. The voltage Ea(s) - Liea(t)) is...
Consider the electro-mechanical feedback control system shown in Figure 3. The voltage Ea(s) - Liea(t)) is generated by an amplifier whose transfer function is Ga(s) -5 The position sensor has a transfer function H(s) 1 and the pre-compensator transfer function is pot X (s) Ea(s) The "Electro-Mechanical System" block, is X(s) Ea(s) 5.05s3 101s2 +505.2s 100 R(s) Amplifier, |Ea(S)Electro-MechanicalX(S) Controller, Gc(s) K, pot Ga(s) System, G(s) Encoder H(s) Figure 3: Electro-mechanical control system for Question 3 Consider a proportional controller...
5. Figure 5 shows an electrical network, i) obtain the differential equations of the network and nofind the tran...
5. Figure 5 shows an electrical network, i) obtain the differential equations of the network and nofind the transfer function F(s) show that the same transfer function is obtained 12(s)/Vin(s); ii) Analyse the circuit in the s-domain and R. C i2(t) Vin(t) L Figure 5. Electrical Network 4. Find the transfer function X2(s)/F(s) of the spring-mass system shown in Figure 4. The system moves over a frictionless surface. h M2 M1 Figure 4. A 2 DOF spring-mass system over a...
Question 3 (5 points) For the electro-mechanical system below, what is the inertia reflected at the...
Question 3 (5 points) For the electro-mechanical system below, what is the inertia reflected at the motor shaft, Jm = _ - (Note if your answer involves decimal, write it with two significant digits (#xx) rounded up) what is the inerti 071 ea() N = 50 OJ = 5 kg-m2 = 5 ke.m2 D = 8 N-m-s/rad N2 = 150 -0.12 = 18 kg-m2-A D2 = 36 N-m-s/rad! (1)
Question 3) Consider the mechanical system shown in figure, T(t) is the torque applied to shaft...
Question 3) Consider the mechanical system shown in figure, T(t) is the torque applied to shaft 1 and z(t) is the rotation of shaft 2. J.Jz and Jz are the inertias of shafts 1,2 and 3 respectively, N,,N,N, and N, are the number of teeths of the gears,, D1, D, and D3 are the coefficient of viscous damping associated with shafts 1, 2 and 3 respectively, K is the spring constant of the torsional spring attached to shaft 3. Write...
3.2 Pre-Lab Assignment When deriving the governing equations for an electromechanical system, it is often beneficial...
3.2 Pre-Lab Assignment When deriving the governing equations for an electromechanical system, it is often beneficial to examine the electrical and mechanical components independently. Looking at only the electrical components of the QUBE-Servo DC motor (as shown in Figure 3.2): R v00 C e, (00 Figure 3.2: Electrical curcuit of the QUBE-Servo DC motor Q1. Write the differential equation in the form of Kirchoff's voltage law) in the Laplace domain for the electrical circuit (do not use parameter values given...
Problem 6 (Extra Credit) Find an electrical circuit that is analogous to the translational mechanical system...
Problem 6 (Extra Credit) Find an electrical circuit that is analogous to the translational mechanical system given below (Do NOT find the transfer function; just sketch the circuit. Clearly identify and label the nodes and the circuit components' parameters.) 220) K-1 Nm N-s/m v,- 1 N-s/m Jv,-I N-s/m
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...
u(t) ta(t) e(t) A DC motor is a electro-mechanical system, where mechanical motor is coupled with an electrical circuit. The motor shows up in the circuit equation as a voltage loss proportional to the motor speed, and the electrical system shows up as the input torque proportional to the armatura current DC motor equations are given by dw(t) dialt) where J is the mass moment of inertia in kg-m2, b is the damping coefficient in N-m-s, K is the motor...
6 Find the transfer function of the system of the follawing system if we want to control the angular displacement of inertia / due to the torque T(t. The numerical parameters are 1 Nm/rad, D K = Da 1 Nms/rad and J Ja1 kgm2 D2 TC) 020 03(0) K DL D2 D3
Question 3 Find the transfer function, G(s) s) / T(s), for the rotational mechanical system in Fig. Q3 below. The gears have inertia and bearing friction as shown. (20 marks) 3 Nm/rad 2 Nms/rad + 1 kg/m? N3 = 100 N2 = 100 T(t) N4 = 20 N = 20 0.04 Nms/rad Fig. Q3
Consider the electro-mechanical feedback control system shown in Figure 3. The voltage Ea(s) - Liea(t)) is generated by an amplifier whose transfer function is Ga(s) -5 The position sensor has a transfer function H(s) 1 and the pre-compensator transfer function is pot X (s) Ea(s) The "Electro-Mechanical System" block, is X(s) Ea(s) 5.05s3 101s2 +505.2s 100 R(s) Amplifier, |Ea(S)Electro-MechanicalX(S) Controller, Gc(s) K, pot Ga(s) System, G(s) Encoder H(s) Figure 3: Electro-mechanical control system for Question 3 Consider a proportional controller...
5. Figure 5 shows an electrical network, i) obtain the differential equations of the network and nofind the transfer function F(s) show that the same transfer function is obtained 12(s)/Vin(s); ii) Analyse the circuit in the s-domain and R. C i2(t) Vin(t) L Figure 5. Electrical Network 4. Find the transfer function X2(s)/F(s) of the spring-mass system shown in Figure 4. The system moves over a frictionless surface. h M2 M1 Figure 4. A 2 DOF spring-mass system over a...
Question 3 (5 points) For the electro-mechanical system below, what is the inertia reflected at the motor shaft, Jm = _ - (Note if your answer involves decimal, write it with two significant digits (#xx) rounded up) what is the inerti 071 ea() N = 50 OJ = 5 kg-m2 = 5 ke.m2 D = 8 N-m-s/rad N2 = 150 -0.12 = 18 kg-m2-A D2 = 36 N-m-s/rad! (1)
Question 3) Consider the mechanical system shown in figure, T(t) is the torque applied to shaft 1 and z(t) is the rotation of shaft 2. J.Jz and Jz are the inertias of shafts 1,2 and 3 respectively, N,,N,N, and N, are the number of teeths of the gears,, D1, D, and D3 are the coefficient of viscous damping associated with shafts 1, 2 and 3 respectively, K is the spring constant of the torsional spring attached to shaft 3. Write...
3.2 Pre-Lab Assignment When deriving the governing equations for an electromechanical system, it is often beneficial to examine the electrical and mechanical components independently. Looking at only the electrical components of the QUBE-Servo DC motor (as shown in Figure 3.2): R v00 C e, (00 Figure 3.2: Electrical curcuit of the QUBE-Servo DC motor Q1. Write the differential equation in the form of Kirchoff's voltage law) in the Laplace domain for the electrical circuit (do not use parameter values given...
Problem 6 (Extra Credit) Find an electrical circuit that is analogous to the translational mechanical system given below (Do NOT find the transfer function; just sketch the circuit. Clearly identify and label the nodes and the circuit components' parameters.) 220) K-1 Nm N-s/m v,- 1 N-s/m Jv,-I N-s/m
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