Question

Sketch a block diagram of the following system. The input should be the desired position in mm, the output should be the actual position in mm. Show the plant to be controlled, G(s), as well as the sensor, H(s), and controller, C(s). All inputs and outputs should be labeled with signal names and units.

Problem Statement:

The 3D print head mass is 2.2 kg.

The structure that raise and lowers the head has a mass of 0.8 kg (including its motor).

The cross arm has a mass of 4 kg.

The design uses an air bearing slide on the cross arm. You may assume the slide is frictionless.

The carriage position is measured by a linear encoder that can be modeled as a continuous sensor.

The team has selected an actuator with a constant ratio between force and voltage: 200N/V

A unity gain amplifier drives the motor and can generate voltages between -24V and 24V

The print head has a range of motion of 0 mm on the left side to 600 mm on the right side.

Answer 1