연세대학교전력및제어공학실험 제어프로젝트

소개글

연세대학교전력및제어공학실험 제어프로젝트에 대한 보고서 자료입니다.

본문내용

First, we will model the system of pendulum system. This time, our model would slightly be different from that of previous experiment. The reference angle of the pendulum is downward. Therefore, when there is a pendulum below, the angle becomes zero.


Following figure kinetic diagram of our crane parameters.
Symbol Meaning Value
M mass of the cart 1 [kg]
m mass of the pendulum 0.2 [kg]
l length of the pendulum 40 [cm]
b friction coefficient of the cart 0.5 [kg/s]
r ball screw pitch 1.27 [cm]
Km motor torque constant 4.9 [Ncm/A]
Kb motor back emf constant 0.0507 [V/rad/s]
R motor resistence 0.3 [Ω]

Analyzing this nonlinear model, we’ll first have to achieve the center of mass of the pendulum (x_G ,y_G).
x_G=x-lsinθ,y_G=-lcosθ
Further, apply Newton’s 2nd law to the pendulum system.
∑▒F:Mx ̈+bx ̇+m(x_G ) ̈=F
∑▒〖M:m(x_G ) ̈lcosθ-m(y_G ) ⃛lsinθ=mglsinθ〗
Total system’s net force will equal to sum of net force of cart, net force of pendulum, friction force of cart. Also, total system’s net torque will equal to sum of net torque of cart and pendulum.

키워드

연세대학교,   전력및제어실험,   제어실험,   프로젝트,   제어프로젝트