Question

Final Assignment: Impulse Response (20 POINTS) Using the Laplace method of analysis introduced in this lesson, determine the impulse response h() for the pendulum example (see LESSON 22). Let m = 1 kg, / 1 m, g= 9.81 m/s2, and T 10 N.m. 0 1 +Im/2 T m 0 g + [0]T NS 194 .. Final Assignment: Cam Displacement Control Follower F F Spring k C Roller x, X, X m m TITT Cam x, x x, X, x F (t F (t) (c) Free-body diagram. (a) Physical cam system. (b) Lumped-parameter model. Newton's 2nd law: F (t) k F (t) mx cx + kx m m Final Assignment: Cam Displacement Control a. (20 POINTS) Let m 6 kg, k 120 N/m, and c 60 N s/m. Follow the pendulum example from LESSON 22, and write the state equation x Ax + Bu. Here, x is the cam displacement (output) and u is the control force F.(t) (input). Follower FS Spring k C Roller x,x m m Cam x, x, X TITT F.(t) VICTRSTE (a) Physical cam system. (b) Lumped-parameter model. (c) Free-body diagram. 194 Final Assignment: Cam Displacement Control displacement, x via the control force, u. We'll accomplish this b. (20 POINTS) We want to control the cam using a PID controller Gc (SEE LESSON 14, SLIDES 10 THROUGH 13): K Kps Gc Kp + T,s+1 +-- S - Where Te is a time constant... Cam System (Plant) PID Controller X (s) F(s) 1 Gc OF ms2 cs + k TE INSTITUT 1947 Final Assignment: Cam Displacement Control ...use the Matlab command C pid (Kp, Ki, Kd, Tf) to create your PID controller for T = 0.5. Kp = 0.5, and 1

Answer 1

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