The achievement of safe, efficient control of the spacing of automatically controlled guided vehicles is an important part of the future use of the vehicles in a manufacturing plant [14, 15]. It is important that the system eliminate the effects of disturbances (such as oil on the floor) as well as maintain accurate spacing between vehicles on a guide way. The system can be represented by the block diagram of Figure P7.9. The vehicle dynamics can be represented by

(a) Sketch the root locus of the system.
(b) Determine all the roots when the loop gain K = K1K2 is equal to 4000.
Figure P7.9
Guided vehicle control.

Transcribed Image Text:

0.12289) G(s) s(s-04)(s + 0.8心+1.45s + 361) S(S Controllei Engine throttle Vehicle R(s) + Desiredー, spacin - Y(x) | KI (s + 0.5) s +30) Ky 30 G(s) Spacing between vehicles Sensor