Research Article
Optimized PID Position Control of a Nonlinear System Based on Correlating the Velocity with Position Error
Table 1
Parameters of the model.
| | Symbol | Description | Value |
| | Motor torque constant | 0.00767 | | Back-emf constant | 0.00767 | | Servo system gear ratio | 70 | | Armature resistance | 2.6 | | Equivalent moment of inertia at the load | | | Equivalent viscous damping coefficient | | | Lever arm offset (in.) | 1 | | Beam length (in.) | 16.75 | | Earth’s gravitational constant (m/s2) | 9.8 | | Gearbox efficiency | 0.9 | | Motor efficiency | 0.36 | | Ball position | | | Beam pitch | | | Servo load gear angle | | | Motor input voltage | |
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