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    J ¨θ=τ B θ−K θ−θ θ θ FR M ¨x =F−B θ R=x: Salida

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    YERSON DAVID ROZO GIRALDO
    The document presents a system of equations modeling the dynamics of an actuator. It describes the system using four first-order differential equations relating the actuator position θ, velocity θ̇, load position x, and load velocity ẋ to the applied torque τa and other system parameters like damping and stiffness. It then represents the system in state-space form with states θ, θ̇, x, ẋ and input τa, with position x as the output.

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    J ¨θ=τ B θ−K θ−θ θ θ FR M ¨x =F−B θ R=x: Salida

    Uploaded by

    YERSON DAVID ROZO GIRALDO
    13 views3 pages
    The document presents a system of equations modeling the dynamics of an actuator. It describes the system using four first-order differential equations relating the actuator position θ, velocity θ̇, load position x, and load velocity ẋ to the applied torque τa and other system parameters like damping and stiffness. It then represents the system in state-space form with states θ, θ̇, x, ẋ and input τa, with position x as the output.

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    Original Title

    Ejemplo piñón-cremallera

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    The document presents a system of equations modeling the dynamics of an actuator. It describes the system using four first-order differential equations relating the actuator position θ, velocity θ̇, load position x, and load velocity ẋ to the applied torque τa and other system parameters like damping and stiffness. It then represents the system in state-space form with states θ, θ̇, x, ẋ and input τa, with position x as the output.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    13 views3 pages

    J ¨θ=τ B θ−K θ−θ θ θ FR M ¨x =F−B θ R=x: Salida

    Uploaded by

    YERSON DAVID ROZO GIRALDO
    The document presents a system of equations modeling the dynamics of an actuator. It describes the system using four first-order differential equations relating the actuator position θ, velocity θ̇, load position x, and load velocity ẋ to the applied torque τa and other system parameters like damping and stiffness. It then represents the system in state-space form with states θ, θ̇, x, ẋ and input τa, with position x as the output.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
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    of 3

    J θ̈=τ a−B1 θ̇−K ( θ−θ A )

    0=−K ( θ A −θ ) −FR

    M ẍ =F−B2 ẋ

    θ A R=x

    Salida:

    y=x
    τ a−B1 θ̇−K ( θ−θ A )
    θ̈=
    J
    FR=K ( θ−θ A )

    K ( θ−θ A )
    F=
    R
    F−B 2 ẋ
    ẍ=
    M
    x
    θA=
    R
    Representacion en VE:

    ẋ=f ( x , u )= Ax+ Bu
    y=g ( x ,u )=Cx+ Du

    x1 θ

    [ ][]
    x2
    x3
    x4
    = θ̇

    u=τ a
    x
    ẋ

    y=x 3

    ẋ 1=x 2

    τ a−B1 θ̇−K ( θ−θ A )


    ẋ 2=θ̈=
    J
    x3

    ẋ 2=
    u−B1 x 2−K x 1− ( R )
    J
    x3
    u−B1 x 2−K x 1 + K
    R
    ẋ 2=
    J
    ẋ 3=x 4

    F−B2 ẋ
    ẋ 4 = ẍ=
    M
    x3
    (
    K x 1−
    R )−B x
    2 4
    R
    ẋ 4 =
    M
    K x1 K x3
    − 2 −B2 x 4
    R R
    ẋ 4 =
    M

    0 1 0 0
    0

    [ ]( )[ ] ( )
    ẋ 1 −K −B 1 K x1
    0 1
    ẋ 2 J J RJ x2
    = + J u
    ẋ 3 0 0 0 1 x3
    0
    ẋ 4 K −K −B2 x4
    0 0
    RM R2 M M

    x1
    x
    y= ( 0 0 1 0 ) 2
    x3
    x4
    []

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