P9.16

(a) [15]. Closed-loop feedback systems are used to control the guidance and speed of the vehicle. The cart senses the tape path by means of an array of 16 phototransistors. The block diagram of the steering system is shown in Figure P9.16(b). Select a gain K so that the phase margin is P.M. = 30.

FIGURE P9.16 (a) An electric carrier vehicle (photo courtesy of Control Engineering Corporation). (b) Block diagram. R(s) Phototransistor array H K Motor and cart dynamics (s/10+1)(s+s+2) Y(s) Cart heading