Figure P11.2 illustrates a set of booms used for the delivery of chemicals in agriculture (Sun, 2011). Each of the booms has equally spaced nozzles, the purpose of which is to maintain a constant gap between the nozzles and the soil despite car movements due to road unevenness. The booms are tethered to a vehicle (not shown in figure), and the gap is measured using an infrared sensor. This measurement is fed to a controller that drives two hydraulic cylinders to adjust the boom’s positions. Under certain operating conditions, it was found that the system can be described by the unity feedback configuration of Figure P11.1 where

a. Design a lag compensator to achieve K_v = 30, and %OS = 10%.

b. Use a computer program to obtain the step response of the closed-loop system and verify its performance.

Transcribed Image Text:

K 2.78 x 10-4 509.3 G(s): .2 3s +1 60 (213 * 213 *1) 602 2132' 213