Suppose a crane controller is designed as shown in Figure 2, to automatically modulate the cart velocity in a manner which ensures that the load does not swing wildly when the cart is driven at the constant velocity, vo i.e. Vr(s)=L{vou(t)} where u(t) is the unit step function. K is the controller parameter to be tuned in order to achieve the control objective. V₁ (s) = L{v₁u(t)} — + Crane Cart D(s) Vr(s) from Part (1) s+ K Controller Figure 2: Control Configuration for the Crane. S 10+305² → Þ(s) Design a suitable value of K such that the resulting response of the rope sway is non- oscillatory. Sketch the trajectory of the rope sway when the cart is driven at a constant velocity of % = 2 m/s. You may assume that the initial angle of the rope is zero. Explain qualitatively how the control system works. How does the control parameter K affect the quality of control?

Suppose a crane controller is designed as shown in Figure 2, to automatically modulate the cart velocity in a manner which ensures that the load does not swing wildly when the cart is driven at the constant velocity, vo i.e. Vr(s)=L{vou(t)} where u(t) is the unit step function. K is the controller parameter to be tuned in order to achieve the control objective. V₁ (s) = L{v₁u(t)} — + Crane Cart D(s) Vr(s) from Part (1) s+ K Controller Figure 2: Control Configuration for the Crane. S 10+305² → Þ(s) Design a suitable value of K such that the resulting response of the rope sway is non- oscillatory. Sketch the trajectory of the rope sway when the cart is driven at a constant velocity of % = 2 m/s. You may assume that the initial angle of the rope is zero. Explain qualitatively how the control system works. How does the control parameter K affect the quality of control?

Introductory Circuit Analysis (13th Edition)

13th Edition

ISBN:9780133923605

Author:Robert L. Boylestad

Publisher:Robert L. Boylestad

Chapter1: Introduction

Section: Chapter Questions

Problem 1P: Visit your local library (at school or home) and describe the extent to which it provides literature...

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