Question

An active camera stabilization system with a nonlinear torsional spring with the given characteristics is used to support the cantilevered mass (the camera). A controller will be implemented based on the model of the passive system. An initial twist is given by the actuator (the motor) to the spring so that static equilibrium (as shown). occurs with the rod horizontal Actuator 10(b +A R L 4 [in) KeQ(t) e(t) Camera i(t) schematic showing actuator and camera Figure 1. Syste 60 50 40 30 20 10 50 100 C Twist [deg Figure 2. Torsional spring charcteristics Task: Write the linearized differential equation that describes the system. larul anbuo

Answer 1

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