Parameters for the Cart and Motor
The response of the cart and motor system to square wave inputs of frequencies 0.1 Hz
to 15 Hz was recorded on the chart recorder and plotted on a Bode plot. The primary
breakpoint between the line of slope -20 Db/decade and the line
of -40 Db/decade occurred at 1 Hz (or
= 6.28 rad.)
A secondary breakpoint of unknown origin occurred at 7 Hz.
The cart gain constant
was obtained by analyzing the magnitude of the cart oscillations for low frequencies.
Using the equation
the value of
was determined by assuming the cart acceleration
was zero for low frequencies and then calculating the average velocity
from the chart recorder.