The design of the control for a welding arm with a long reach requires the careful selection of the parameters [13]. The system is shown in Figure DP5.2, where ζ = 0.6, and the gain K and the natural frequency ωn can be selected.
(a) Determine K and ωn so that the response to a unit step input achieves a peak time for the first overshoot (above the desired level of I) that is less than or equal to 1 second and the overshoot is less than 5%.
(b) Plot the response of the system designed in part (a) to a step input.
Figure DP5.2
Welding tip position control.

Transcribed Image Text:

Arm Actuator and amplifier dynamics Y(s) Welding tip position Ris)