Design a control system to manipulate the position of a spring driven cart.
A solid aluminum cart is driven by a rack and pinion mechanism using a 6V DC motor, ensuring consistent and continuous traction. The cart slides along a stainless steel shaft using linear bearings. The cart position is measured using a sensor coupled to the rack via an additional pinion. The powered cart (input cart) is coupled to a non-powered cart (output cart) using a compression spring. Both cart positions are measured using encoders.
The ability to vary parameters is also available should you wish to change the cart mass and or spring length. The desired outcome is to design a controller such that the output cart tracks a command with minimum overshoot and maximum speed. The system is supplied with a state feedback controller. You may design any other controller you wish.
Undergraduate – second course
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