Lecture 6

Simulak
(1) ✓- √bemp = (R+Ls)I(s)
(2) T² = 1²46 I (5)
(3) Js √(s) = T-b√(s)
(4) Voemp = K6. (s) as output = TF- imput
(1) (V- Vhemp) e innot
(R+ Ls)
V.- V beme ->
V bemf
KI
V+
52(5) (Jstb)=T

V-Voemf
Vbemf
[(s)
- afput.
R+Ls - (s) k
>
2
dinput
Jst b
TE
=
R+Ls
electwed sys
atpis
2
Ţ
Input. TF = output
T
Jstb
ki
KE
'T
Jstb
mech
sys
highest
Prav in system = PU (H₂)
ng qoist sampling rule sags sample
f have is 100 152
Sample at 200 H₂
Ex
f
f
Variable
used to effect
System
f
m
(11)-
TEX
DE =
Sensor
ud
X(0)=0
V(u) =0
Implement a controlor that regulates
So mass m
2010 speed
The connder decids how much forcef need to
be apples to in at any punt in time
upen loop system
Lux
error
Q
X(E)= 1 unit
VIGP)=
f
will reach the target point with
2 x Po
= 0,05sec
x
>
Physical
Var we would
contrar
Xrep = Icht
refference
TF b/w X
F
error = ref- Actual ( sensor reading)
errar 4 metre by which controler performance is
measured
If ervar =0, jub is dare
error = ref -sensor readily
ref> Sensor reandray
er so
+ Pace
elo
- Parce
xref

ref sensor readry

ever,
Crs) action
mensched X(S)
Gls)
X (5)
#CS/
closed loup system, negame feedback
HII unity Peedback
contacter moniters error and reduces error in
control loop