Question: As soon as possiple please Question 2 - 45 points A DC motor is used with an encoder sensor feedback to rotate a robot arm.

As soon as possiple please

Question 2 - 45 points A DC motor is used with an encoder sensor feedback to rotate a robot arm. A microcontroller with a PWM signal is used to control the speed of the system. Its characteristic is given as follows: PWM Frequency: 250 Hz - PWM Resolution: 8 bits 1. 10 points - The encoder has a resolution of 10 bits. a. Give the angular resolution in rad. How many counts is performed by the encoder of the rotation of 436? 2. 20 points - The DC motor rotates at a speed of 1000 RPM with a voltage of 24V. a. 10 points - Calculate the average voltage and the duty cycle to rotate the motor at 200 RPM. b. 10 points - Draw the PWM signal and indicate the value for ton and toss: Draw the signal properly. Points will be deducted if the signal is not satisfactory 3. 15 points - Answer the following questions: a. 10 points - How many counts per second is performed by the encoder for the aforementioned angular speed? b. 5 points - Can a microcontroller with a data acquisition frequency of 100kHz read the count of the encoder

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