The design of a motion system

GIVEN:

_ In all models: give all elements labels and indicate the correct unit for

each element.

_ Backlash, friction and damping effects may be neglected, unless otherwise

stated.

_ If additional assumptions are required, make them explicit.

_ Motivate your answers.

Figure 1: A flexible frame (5) with a motor (1) driving a cart (4) by means of

a belt (2) and a spindle (3).

Introduction:

The design of a motion system, see _figure 1, is considered.

The motion system consists of a flexible frame (5) upon which a motor (1) is

mounted that drives a cart (4) by means of a belt (2) and a spindle (3).

Part 1: Controller design:

The task specification is as follows: stroke hm = 0:1 [m]; motion time tm = 0:2

[s]; 3rd order path; maximum allowable setpoint error emax;set= 100 [micrometer].