# FBD servo link with SMD

1. Nov 21, 2012

### trojsi

1. The problem statement, all variables and given/known data

I have this system (attached) which I need to model using simulink (attached).

2. Relevant equations

My available variables/constants are: y, y', tita, tita dot, tita double dot, m=0.1, c=0.1, k=300, l=0.3.

I derived the following equations from the free body diagrams;

y = l*sin(tita)

$F = m\ddot{x} = l(k)sin(θ)+l(b)cos(θ)$

$T_{l} = Fcos(θ) + I\ddot{θ}$ ;
where $I = ml^{2}$

When I try simulating the system, it seems that it is unstable as an error for step size pops up. Do I have a mistake in my equations?

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• ###### servo_control.png
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Last edited: Nov 21, 2012