Question

P 6.3 Astronaut Bruce McCandless II took the first untethered walk in space on February 7, 1984, using the gas-jet propulsion device. The controller can be represented by a gain K2 as shown in Figure P 6.3 (a). The moment of inertia of the equipment and man is I 25 kg m2. a) Determine the necessary gain K3 to maintain a steady-state error equal to 1 cm when the input is a ramp r(t) - t (meters), b) With this gain K3, determine the necessary gain K1K2 in order to restrict the percent overshoot to 10%. c) The proportional controller, P-controller, (only gain can be adjusted), is given by: With only P-controller (no rate feedback i.e. K3-0), shown as in Figure P 5.4 (b). if KĐ = 100, with K1 - 1. What will be steady state error and percent overshoot for step input? Astronaut Gas jet controller Force Y (s) R(s) + Desired position Velocity1 Is Astronaut Gas jet controller Force Y (s) R(s)+ Desired position 1 Velocity FIGURE FOR PROBLEM 6.3: BLOCK DIAGRAM

Answer 1