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FBD servo link with SMD

  1. Nov 21, 2012 #1
    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)

    [itex]F = m\ddot{x} = l(k)sin(θ)+l(b)cos(θ)[/itex]

    [itex]T_{l} = Fcos(θ) + I\ddot{θ}[/itex] ;
    where [itex]I = ml^{2}[/itex]



    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?
     

    Attached Files:

    Last edited: Nov 21, 2012
  2. jcsd
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