A pendulum that is powered via a series elastic actuator can be modelled as follows (simplified) Jy (double dot) + By (dot) + K(y-u) + mglsin (y) where y is output and u is input j = 0.2 [kgm^2] (Inertia) K = 60 [N.m/rad] (Spring stiffness) B = 0.05 [N.m.s/rad] (damping coefficient) g 9.81 [m/s^2] (gravitational acceleration) m = 2.5 [kg] (mass) 1 = 0.5 [m] (pendulum length) yo = 0.25 [rad] y0 (dot) = -0.2 [rad/s] = Simulate mechanical system using Matlab/Simulink when the input is a unit step Using a scope, plot the input and output.

A pendulum that is powered via a series elastic actuator can be modelled as follows (simplified) Jy (double dot) + By (dot) + K(y-u) + mglsin (y) where y is output and u is input j = 0.2 [kgm^2] (Inertia) K = 60 [N.m/rad] (Spring stiffness) B = 0.05 [N.m.s/rad] (damping coefficient) g 9.81 [m/s^2] (gravitational acceleration) m = 2.5 [kg] (mass) 1 = 0.5 [m] (pendulum length) yo = 0.25 [rad] y0 (dot) = -0.2 [rad/s] = Simulate mechanical system using Matlab/Simulink when the input is a unit step Using a scope, plot the input and output.

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

Section: Chapter Questions

Problem 1.1MA

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