I appreciate genuine expert and answer fastly 532. How can coordinate transformation be used to improve the reliability of control systems?
Added by Mark B.
Step 1
In control systems, this can be particularly useful when dealing with complex systems where the dynamics are easier to analyze or control in a different coordinate system. Show more…
Show all steps
Your feedback will help us improve your experience
Breanna Ollech and 92 other Physics 102 Electricity and Magnetism educators are ready to help you.
Ask a new question
Labs
Want to see this concept in action?
Explore this concept interactively to see how it behaves as you change inputs.
Key Concepts
Recommended Videos
Q2) The bloke diagram below illustrates a cascade negative feedback control system. The system consists of a small DC motor, gearbox, and cascade control element. The cascade element implements a proportional derivative control with gains of Kp and Kd. a) Determine the closed loop transfer function of the system. b) Determine the Routh-Hurwitz table for the transfer function. c) By inspection of the left-hand column, determine an expression in Kp and Kd, which will guarantee that system is BIBO stable. d) Briefly explain how the cascade transfer function could be modified in order to reduce the steady-state error of the step response. e) Using the final value theorem determine the steady-state error when the system is subject to unit step input.
Breanna O.
Madhur L.
You are trying to solve a 1D (rotational) aided inertial navigation problem, as shown in the figure below. The goal is to estimate the SMART robot's heading angle ̘ using a rate gyroscope and a single-point laser rangefinder. 10cm k ̘ d Laser Rangefinder Robot Center Wall The robot is assumed to only rotate around its center without any translational movement. There are two information sources for estimating ̘: the integration of the yaw rate gyro, r, i.e., ᄑ = r; and the use of a trigonometric relationship among the known distance between the robot center and the wall, d; the laser rangefinder measured distance, k; and the angle ̘, which is to be estimated. We assume that the laser rangefinder is offset 10 cm behind the center of the robot. The error of the laser rangefinder measurement is assumed to be zero mean with a standard deviation of 0.2 cm. The error of the rate gyro is assumed to be zero mean with a standard deviation of 0.1 "/s. a) Use the state-space formulation to represent this system; b) Discretize the system with a sampling time of 0.1 s. Describe the process and measurement noises in this system; c) Linearize the measurement equation at two different points (i.e., ̘ = 0" and ̘ = 10") d) If using an EKF to estimate ̘, what are some of the considerations when designing this filter? Hint: in this application, the state-transition equation is linear and the measurement equation is nonlinear. Also, unlike the examples you have seen earlier, this system only has one state.
Akash M.
Recommended Textbooks
University Physics with Modern Physics
Physics: Principles with Applications
Fundamentals of Physics
Transcript
Watch the video solution with this free unlock.
EMAIL
PASSWORD