The controlled variable in a closed-loop system is the direction of a robot arm.

Question

The controlled variable in a closed-loop system is the direction of a robot arm. Initially it is at 50o; then it is commanded to go to 15o. When the error is 10o for the first time, what is direction of the robot arm?

a. 15 deg

b. 25 deg

c. 10 deg

d. 35 deg

Find the current in a ground loop that is 300 ft long, has a wire resistance of 0.01 ohms/ft, and has a difference of 5 V between grounds.

a. 1.67 A

b. 0.54 A

c. 2.04 A

d. 1.34 A

A proportional controller for a rotating antenna has a gain Kp of 5 in-oz/deg. The antenna was initially pointing due south, but was then commanded to point southeast. What is the torque when the antenna gets to within 5o of its set point?

a. 49 in-oz

b. 23 in-oz

c. 47 in-oz

d. 25 in-oz

A proportional control system with a Kp of 5 ft-lbs/deg controls a robot arm that is 1.5 feet long. What steady-state error would you expect if the robot lifted a 10-lb object?

a. 2 deg

b. 3 deg

c. 4 deg

d. 5 deg

If you answer please provide me how you get it. I am asking these questions to learn. Thanks!

Explanation / Answer

1) the controlled variable in a closed-loop system is the direction of a robot arm. Initially it is at 50o; then it is commanded to go to 15o. When the error is 10o for the first time, what is direction of the robot arm?

error   = 15 +10 = 25

b. 25 deg

2)

R = resistence = 300*0.01 = 3 ohm

current = V/R = 5/3 = 1.66

a. 1.67 A

3)

torque = Kp*5   = 25 in oz

d. 25 in-oz

4)

     error = 1.5*10/Kp = 3 degree

b. 3 deg

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