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Analyzing this nonlinear model, we’ll first have to achieve the center of mass of the pendulum (x_G ,y_G).
x_G=x-lsinθ,y_G=-lcosθ
Further, apply Newton’s 2nd law to the pendulum system.
∑▒F:Mx ̈+bx ̇+m(x_G ) ̈=F
∑▒〖M:m(x_G ) ̈lcosθ-m(y_G ) ⃛lsinθ=mg
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연세대학교 제1공학관 (알루미늄 음료수캔, 지지대, 정수기 물통 등의 재활용품 출처)
5. 한국에너지관리공단 신재생 에너지 센터(http://www.energy.or.kr/knrec/index.asp) 1. 초록
2. 서론
2.1. 기존 제품의 소개 및 문제점
2.2. 본 프로젝트에서
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NO. 27 THE DC SEPARATELY EXCITED SHUNT GENERATOR
d) Measure and record in Table 27-1 the armature voltage E_A for each of the listed field currents.
I_F (mA) E_A (V)
0 0
50 25
100 50
150 75
200 90
250 115
300 130
350 140
400 150
f) Can you explain why there is an armature voltage eve
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NO. 23 THE SYNCHRONOUS MOTOR AND THE ELECTRODYNAMOMETER
OBJECT : Learn how to connect a three-phase synchronous motor and how to connect the electrodynamometer.
Fig. 23-1
5. a) Vary the rheostat control for minimum stator current as indicated by the three current meters. (The control knob sh
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Chapter 5. DC Motor Modeling in the Inverted Pendulum and Its Step Response
1.OBJECT
- Understand the transient response and the steady-state response.
- Understand the procedure for modeling the motor of an inverted pendulum system and understand its mathematical representation.
- Compare s
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Chapter 1. CEMTool Experiment
1. OBJECT
- Learn the functions of CEMTool for control of an inverted pendulum or other plant.
(CEMTool & SIMTool are made in SNU control laboratory in 1999)
2. THEORY
1) CEMTool Running
- CEM>>: Commands that is used in CEM mode.
- M>>: Comman
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Chapter 7. Lead Compensator Design
1.OBJECT
- Learn how to design a lead compensator based on the root locus theory.
- Observe the change of the lead compensator applied to the inverted pendulum motor.
- Carry out the position control of the inverted pendulum motor by using a lead compensato
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Chapter 12. Design of A PID Controller For An Inverted Pendulum
1.OBJECT
- Design a PID controller which control the cart to position of zero and the pendulum to angle of perpendicular.
- Verify the designed PID controller by simulation and experiments.
- Tune the PID parameters and make bet
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NO. 36 THE UNIVERSAL MOTOR, PART I
OBJECT
- To examine the construction of the universal motor
- To determine universal motor’s no-load, full-load characteristics while operating on alternative current and direct current.
PROCEDURE
4. Viewing the front face of the module:
a) The main series
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준비가 되어 있습니다. 그것이 제가 추구하는 ‘건축공학자의 새로운 정의’이며, 그 설계의 중심이 연세대학교가 되기를 희망합니다. 연세대학교 일반대학원 건축공학과 학업계획서
1. 자기소개
2. 진학동기
3. 수학 및 연구계획
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