MAE6246: Electromechanical Control Systems Homework 5: Linearization
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Homework 5: Linearization
MAE6246: Electromechanical Control Systems
1 Double Pendulum
Consider the Double Pendulum from the previous assignment in figure 1. Given a state x = [θ1 θ2 ω 1 ω2], where θ˙1 = ω 1 and θ˙2 = ω2 , the angular accelerations can be calculated with:
┌ m1 l 1(2)m2(+)╱(m)l╱22l 2(2)、 m2 ╱ lm2(+)12l22l1 l2 c2、┐ ┌ω˙(ω˙)2(1)┐ =
┌m2 l1 l2 s2 θ˙1 θ˙2 + m121(2)┐
Where ci = cos θi and si = sin θi . Similarly, sij = sin (θi + θj ).
Using this setup, find the equilibrium points. Linearize the system about each equilibrium.
2 Adding a motor model
Consider a motor with the model given in figure 2. This motor has a voltage coefficient K4 such that ω2 = K4 Vemf and an efficiency η . Integrate the model for this motor in the linearization you did in the previous section.
3 Solving Linear Systems
3.1 Time Invariant Systems
Consider the following linear dynamics:
x˙1 = ┐ x1 + ┌ ┐1(1)
Find x1 (t) and x2 (t) given that x1 (0) = [1, 1]T , u (t) = 1.
3.2 Time Variant Systems
Find the fundamental and state transition matricies for
x˙2 = ┌0(0)
t(1)┐ x2
(3)
Figure 1: Diagram of a double pendulum
Figure 2: Diagram of a double pendulum
2022-11-06