![]() ![]() Similarly, the transfer function from τ l to θ m is found by setting V=0. The transfer function from V(s) to θ m can be derived by setting τ l = 0, which gives This can be drawn as a block diagram in Figure 3.įigure 3 block diagram of the robot joint dynamics in Figure 1 It is left to the reader to verify that, in Laplace domain, the joint dynamics in Figure 1 can be described by ![]() From now on we omit the a subscript in the armature inductance and resistance. To develop the electrical side of DC motor, consider the model shown in Figure 2.įigure 2 a model of permanent magnet DC motor We want to describe a model in transfer function form so that a block diagram can be drawn. By simple calculation, it is easy to show that the rotational motion in terms of θ m is described by Let J m = J a + J g be the sum of motor and gear inertia. įigure 1 robot joint connected to DC motor via a gear transmission To be concrete, we consider in Figure 1 a simple diagram of robot joint driven by DC motor through a gear transmission with ratio r:1. ![]() Hence, in this module we show how to formulate a transfer function in Scilab and plot its frequency response. For analysis and design in frequency domain such as the so-called classical method, loopshaping, or Quantitative Feedback Theory (QFT), some form frequency response data is needed. Then a feedback diagram is constructed with this plant model and a controller described as transfer functions, either in continuous or discrete time domain. In general, the first step for control system analysis and design is to acquire a model that represents the actual plant to be controlled. Scilab commands for plotting frequency responses.How to create a transfer function in Scilab.This article is contained in Scilab Control Engineering Basics study module, which is used as course material for International Undergraduate Program in Electrical-Mechanical Manufacturing Engineering, Department of Mechanical Engineering, Kasetsart University. ![]()
0 Comments
Leave a Reply. |