Mechatronics Modelling and Control

Assessed Matlab Practical 3 – Control of robotic arm Aim: To control the pitch attitude of a robotic arm.

To turn the robotic arm, a servo actuator motor is used to apply Torque, T that will rotate the robotic arm.

The angular position of the robotic arm is govern by the.

T ??J

d2?

dt2

??B d?

dt

Where ??is the robotic arm angular positon, J is the moment of inertia of the robotic arm and B is the coefficient of damping primarily due to friction in the gears. T is the torque applied to move the robotic arm.

1. Show that if the output is angular velocity (?). The equation that models the movement of the antenna is a first order differential equation. What is the gain, Ka and time constant Ta? Hence write down the Transfer Function, ?(s)/T(s).

2. Enter the transfer function ?(s)/T(s) into Matlab and use the LTIview facility to plot a time response of the robotic arm when a constant torque (T = 10Nm) is applied assuming angular velocity, ? as the output in deg/s. What is the steady state velocity? What is the 95% settling time?

30%

3. The robotic arm is controlled via a motor which adjust the Torque as the robotic arm turns to a desired angle.

A 0-10v volts control signal is used to drive the motor and turn the robotic arm between angles of 0 to 90°. The diagram bellow shows the transfer function of the motor and the robotic arm.

Hence determine the value of the encoder gain Kc, if the input voltage range from 0 to 10V correspond to the output angles ranging from 0 to 90°. Use block manipulation and LTI viewer to measure the percentage overshoot and tmax of the control loop assuming a step input u of 5V.

What is the position of the robotic arm assuming this step input?

Hence determine the value of the encoder gain Kc, if the input voltage range from 0 to 10V correspond to th

20%

4. Hence determine the undamped natural frequency and damping constant for a 5V input.

5. Determine the closed loop transfer function of the robotic arm motor control loop.

40%

J = 0.314 N.m.s^2/deg

B = 0.039 N.m.s/deg

Kt = 0.343 N.m/A

Kv = 0.035 V.s/deg

Question 1

Value for Ka =

Value for Ta =

Question 2

- ?ss = deg/s

- t95% = /sec

Question 3

Kc =

tmax = /sec

??????????deg

% overshoot =

Question 4

K =

?n

Undamped natural frequency =

Question 5

S2 S1 S0

Num coeff

Deno coeff

Conclusion

Which of the following statements are true or false?

1. Increasing the rate gyro gain can remove overshoot from the system.

2. Increasing the encoder gain can decrease the position range of the robotic arm.

3. Induction motor is suitable for controlling the position of the robotic arm.

4. Increasing the signal voltage decreases the angular velocity of the robotic arm

5. Increasing the torque gain can increase the overshoot.

Assessed Matlab Practical 3 – Control of robotic arm Aim: To control the pitch attitude of a robotic arm.

To turn the robotic arm, a servo actuator motor is used to apply Torque, T that will rotate the robotic arm.

The angular position of the robotic arm is govern by the.

T ??J

d2?

dt2

??B d?

dt

Where ??is the robotic arm angular positon, J is the moment of inertia of the robotic arm and B is the coefficient of damping primarily due to friction in the gears. T is the torque applied to move the robotic arm.

1. Show that if the output is angular velocity (?). The equation that models the movement of the antenna is a first order differential equation. What is the gain, Ka and time constant Ta? Hence write down the Transfer Function, ?(s)/T(s).

2. Enter the transfer function ?(s)/T(s) into Matlab and use the LTIview facility to plot a time response of the robotic arm when a constant torque (T = 10Nm) is applied assuming angular velocity, ? as the output in deg/s. What is the steady state velocity? What is the 95% settling time?

30%

3. The robotic arm is controlled via a motor which adjust the Torque as the robotic arm turns to a desired angle.

A 0-10v volts control signal is used to drive the motor and turn the robotic arm between angles of 0 to 90°. The diagram bellow shows the transfer function of the motor and the robotic arm.

Hence determine the value of the encoder gain Kc, if the input voltage range from 0 to 10V correspond to the output angles ranging from 0 to 90°. Use block manipulation and LTI viewer to measure the percentage overshoot and tmax of the control loop assuming a step input u of 5V.

What is the position of the robotic arm assuming this step input?

Hence determine the value of the encoder gain Kc, if the input voltage range from 0 to 10V correspond to th

20%

4. Hence determine the undamped natural frequency and damping constant for a 5V input.

5. Determine the closed loop transfer function of the robotic arm motor control loop.

40%

J = 0.314 N.m.s^2/deg

B = 0.039 N.m.s/deg

Kt = 0.343 N.m/A

Kv = 0.035 V.s/deg

Question 1

Value for Ka =

Value for Ta =

Question 2

- ?ss = deg/s

- t95% = /sec

Question 3

Kc =

tmax = /sec

??????????deg

% overshoot =

Question 4

K =

?n

Undamped natural frequency =

Question 5

S2 S1 S0

Num coeff

Deno coeff

Conclusion

Which of the following statements are true or false?

1. Increasing the rate gyro gain can remove overshoot from the system.

2. Increasing the encoder gain can decrease the position range of the robotic arm.

3. Induction motor is suitable for controlling the position of the robotic arm.

4. Increasing the signal voltage decreases the angular velocity of the robotic arm

5. Increasing the torque gain can increase the overshoot.

IMAT5101 OO Programming Assignment 1la 2019 Page 1 of 5Faculty of Technology – Course work Specification 2019/20 Module name: Object Oriented Programming Module code: IMAT5101 Title of the Assignment:...good morning mates🙋,I have a small favor to ask😇..I need your help with dissertation which is under the title of :Adam Smith's Economic Liberalism Theories and their Implications on...Blastonbury Pop FestivalDatabase Concepts 5COM1052Assignment 2 - 2019/2020Physical Design and QueriesBlastonbury Pop FestivalBlastonbury pop festival is a three days festival of modern performance of arts...Section B(i) Product B and Product C. Product B Product CDirect material cost per unit £60 £80Direct Labour cost per unit £35 £55Machine Hours per unit 5 7The company expects to produce...I would like you to help me in my write my dissertation, in the field of Banking and Finance.My word limit is 10,500 and I have more than 2 months for the deadline. what price can we negotiate since my...Activity 1.1 : problem set 1Consider a continuum of workers and rms. Each rm has only one job. The total mass of the population is normalized to one, which implies that the unemployment rate is equal to...The International Political andLegal EnvironmentPolitics Defined• Politics can be seen as the process throughwhich power is exercised in society.• It refers to decisions which effect society as awhole,...**Show All Questions**