ﾊﾟﾙｽｴﾝｺｰﾀﾞｰ倒立振子 (RTC02P) 取扱説明書 - So-net
Contents
1. WV7 ap 2 Pe RTCO5C 10 REALTEC FN30 U153N1E NM 0 023Nm A 8 8 0 1 10 Kem RE12D 300 800P 1 1KQ ocgsidrsocle 10g L6207 2 5A 0 4V CWICCW TTL 12V 1 5A 20cm 1 10 Kom 20cm 16g e 500g NH 20 W x18 D x25 HDcm RTCO5C REALTEC 8 2 Transfer Function Vo s We 2 On Vs 2 580 5 0 By Laplace Inverse Transformation Step Response V t lt Step response gt ei Volt 1 9 Vi e sin V1 6 t tan2. gt X 500 1 DO 4 500x4 2 000N 71 360deg7 2 000P 0 18deg lt gt X 300 71 DO 4 800x4 1 200 71 7 A K 360deg 1 200P 0 3degy 1 y2 7 n 7 RTCO5C 9 REALTEC 6 6 1 7 4 2 6 2
3. 7 7 7 3 Kac 7 RTCO5C 6 REALTEC 1 Ol 5 1 te ei 0 A 7 12V 8 3 0 5 2 1 364 K 0 023Nm A 2 7 5 3 10 Kgm 0 rad K 1 _ 0 023Nm A 0 5A _ 0 0115Kgm sec J 5 3 10 Kem 5 3 10 Kem 2 16 10 10 rad sec 21 6rad sec w a t 2 2 2 t _ 21 6rad sec I a 2 2 2 sec 0 38sec 21 6 E 0 4 0 5A Vi 0 t G Vi 8 3 0 5 Qx0 5A 8 8Qx0 5A 4 4V 9V
4. V cmd K 90deg 0 41V deg 36 9V 12V 12V 12V 8 8Q 1 36A gt 0 5A 7 lt 0 38sec RTCO5C 7 REALTEC 4 7 X 7 24700R207 0 4 1 7 2 7 7 m 20x3x0 1x2 7 16 2g 0 016Kg 2 I m cos 0 016x0 01 1 6 10 Kg 4 2 7 m 10g 0 01Kg 7 0 01x 0 192 0 00037 3 7x10 Kgm 7 1 1 1 1 6 3 7 x10 5 3x10 Kem 0 00053Kem RTC05C 9 REALTEC 5 1 7 ig 7 1 Fig 7 1 7 n 2
5. KK V R V RI K 2 3 2 8 2 2 2 4 2 1 T 7 EE 2 5 m m 2 3 2 5 2 2 K dt dt _JR d 0 Pe kK a TA Pa 2 6 2 6 0 2 7 Rs RO RS 2 7 2 7 1 O De BL 2 8 RTC05C 2 REALTEC 2 8 0 023Nm A R 8 30 J 0 00053Kem _ 1 ii V s 8300053 0 023s 0 19s 0 023s RTC05C 9 REALTEC 3 2 jg 3 1 Hig 3 1 1 Vi 0o 01i 6 0 19s 0 023s Fig 3 1 d s 7 2 3 JO
6. 1 8 1 7 Vi A Max overshoot 2 3 A 10 pwnt 11 12 13 4 1 52 Yi_ g2 Yi_ g2 12 Yi_ g RTCO5C
7. 982 0 023 2 96V rad sec rad K 2 96V rad sec a 0 052V degy sec RTC05C 5 REALTEC n USBA04 Matlab Simulink WW7 na Fig 3 2 Subsystem2 Fig 3 2 Kac X 500P 1 4 2 000P 1 360 2 000P 0 18 P 2 77 1 SW 0 7 7 np 2 2 y7 2 7 7 77
8. Fig 3 1 6 0 K 50 K E 0 195 0 023s K K sK Pp 0 195 0 023 gt 0 19s 0 023s 3 1 K sK 0 19s 0 023s K s K 0 t 0 0 19s 0 023s 0 19s 0 023s 0 19s 0 023 K s K ee K 0 19s 0 023s 0 1982 0 023s 2 Pb 0 19s 0 023 K s K K on9 0 19 0 1 RTCO5C 4 REALTEC s 2 0 20m 8 SO 3 3 3 2 3 3 A 2 27 7 7 0 4 0 707 C tf Dg 0 4 8 2 11 1 PD 3 0 41 0 7072 0 19 K x0 19 11 1 x0 19 23 4V rad rad K 23 4V rad 0 41V deg K 20 x0 19 0 023 2x0 707x11 1x0 19 0 023 2
9. REALTEC VIY2 RTCO2P Rel 2014 10 21 RTCO5C REALTEC 1 7 2 2 1 7 Fig 2 1 PID n 7 N Km Jm R Fig 2 1 Vi 0 7 V KK MW RR 7 th 7 YY J V1 Yr 7 7 7 RE 2 1 RTC05C 1 REALTEC Dk nn 2 2 Vi IT Vi Fig 2 2
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