GIVEN:

_ In all models: give all elements labels and indicate the correct unit for
each element.
_ Backlash, friction and damping effects may be neglected, unless otherwise
stated.
_ If additional assumptions are required, make them explicit.
_ Motivate your answers.

Figure 1: A flexible frame (5) with a motor (1) driving a cart (4) by means of
a belt (2) and a spindle (3).
Introduction:
The design of a motion system, see _figure 1, is considered.
The motion system consists of a flexible frame (5) upon which a motor (1) is
mounted that drives a cart (4) by means of a belt (2) and a spindle (3).

Part 1: Controller design:

The task specification is as follows: stroke hm = 0:1 [m]; motion time tm = 0:2
[s]; 3rd order path; maximum allowable setpoint error emax;set = 100 [micrometer].

1. For the time being, assume a rigid body mass of 1 [kg]. Determine the
feedback controller parameters in case of a PID control action.

2. Sketch the Bode diagram of the controller transfer, the plant transfer, the
loop transfer, the closed loop transfer and the sensitivity function.

3. The mass of cart (4) is 2.3 [kg], so the actual rigid body mass will be larger
than 1 [kg]. How will this increase of rigid body mass affect the controller
and plant transfers and the Bode diagrams?

We need to select a rotary actuator. Suitable actuators consist of a rotary

motor with an integrated gear transmission on top. In other words, the output
shaft of the rotary actuator that we modelled before actually is the output shaft
of a gear transmission that is driven by a motor. The gear transmission has a
transmission ratio im that can still be determined.

4. Determine a parametric expression for the total moving mass, using an

iconic diagram model.

Part 2: Assessment of the influence of the lowest mode of

Vibration:

8. Make a competent iconic diagram of the sketch in _figure 1. Label all

elements of the diagram and indicate the elements with the correct units.

9. Simplify the iconic diagram. Give all elements labels and indicate the
correct unit of each element.

10. In the model several classes can occur depending on the parameters of the
system.
(a) Identify which classes can occur with this particular model.
(b) Define a set of parameters which will result in each of the given
classes.
(c) What is the consequence of changing the radius of the lower wheel
in the belt transmission?

11. There are 3 different ways in which we can measure the position for feed-
back. Copy _figure 1 and add the three options for position measurement.

12. For each possible class found earlier, consider how the measurement operations work out and determine
the transfer type that will result. Sketch
the corresponding Bode plot.

13. We decide to measure the position by means of a rotary encoder on the

backside of the motor, as this is easy to realize and low-cost. We could
add a high-frequency roll-off filter to the control action. Are there any
conditions that you want to check in this situation? Motivate your answer.