Shock-Absorber Model

• sdfdf

3. Transfer Function
EN2142 Electronic Control Systems

Dr. Rohan Munasinghe

BSc, MSc, PhD, MIEEE
Department of Electronic and Telecommunication Engineering
Faculty of Engineering
University of Moratuwa 10400

Shock-Absorber Response Example: Robot Link Motion

• Electrical System

Shock-Absorber (3.69)

Transfer Function τ(t)

Jl θ(t)
Neglect the J m bm
Initial condition
response Then bl
R i(t)
τm(t) n:1
L
vB(t) θm(t)

v(t) Electrical System

Example: Robot Link Motion Control (3.70) into (3.69)

τ(t)

Jl θ(t)
J m bm

R i(t) bl
τm(t) n:1
L
vB(t) θm(t) Mechanical System

v(t) θ (s)
=?
V ( s)
(3.73)

(3.70) - System Transfer Function -

Variables and Parameters MatLab Simulation

Unit step (1V) response

 Step Response of Robot Link Position Position Response => Velocity Response

Step Response
Position
0.08
Joint position [rad]

0.06

0.04

0.02

0 Speed
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
Time (sec)
sΘ ( s ) kτ / n
= (3.73)
V ( s ) LJ eq s 2 + ( Lbeq + RJ eq ) s + ( Rbeq + k B kτ )

Robot Link Velocity Response Link Position and Velocity Response

Step Response
0.08

Joint position [rad]

0.06

0.04

0.02

1V input
0
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
Time (sec)

Step Response
0.5

Joint speed [rad/s]

0.4

0.3

0.2

0.1

0
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
Time [s] (sec)
 3.31 Determination of Tr Fn
• Give a unit impulse input δ(t), record the unit impulse
responses g(t)

δ
δ(t) g(t)
G(s)

t t

• Derive the Laplace Transform of g(t)