- Problem 1 Assume A Single Dof Motion Control System Whose Mathematical Model Is Given As Aqq B 9 9 G Q Text 1 (66.76 KiB) Viewed 31 times
Problem-1: Assume a single-DOF motion control system whose mathematical model is given as: aqq + b(9.9) + g(q) + text = Kirer For this system, the torque constant and the inertia can respectively be given as a(q) = an + Aa and K = Kn +AK. a) Express this system using the nominal parameters and lumping all of the remaining terms as disturbance. Clearly show the content of the disturbance in the parametric form. b) Find out the necessary current to compensate the disturbance term formulated in part a).