An automated guided vehicle (AGV) can be considered as an automated mobile conveyor designed to transport materials.
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Most AGVs have a specification of maximum speed of about 1 m/s, although in practice they are usually operated at half that speed. In a fully automated manufacturing environment, there should be few personnel in the production area; therefore, the AGV should be able to be run at full speed. As the speed of the AGV increases, so does the difficulty in designing stable and smooth tracking controls.
A steering system for an AGV is shown in Figure P10.30, where T\ = 40 ms and T2 = 1 ms. We require that the velocity constant Kv be 100 so that the steady state error for a ramp input will be 1 % of the slope of the ramp. Neglect T2 and design a lead compensator so that the phase margin is
45° < P.M. < 65°.
Attempt to obtain the two limiting cases for phase margin, and compare your results for the two designs by determining the actual percent overshoot and settling time for a step input.
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