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Mathematical Model

The document describes a mathematical model for a whiteboard cleaner with two stepper motors that control movement along the x and y axes, defining the system dynamics through differential equations relating position, acceleration, and control inputs along each axis, as well as equations for a proportional-derivative control system to determine the control inputs based on desired position and velocity. A MATLAB script is provided as an example to numerically solve the system of coupled differential equations that model the motion of the whiteboard cleaner along both axes based on the control system.

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amla.y360
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Download as DOCX, PDF, TXT or read online on Scribd
19 views

Mathematical Model

The document describes a mathematical model for a whiteboard cleaner with two stepper motors that control movement along the x and y axes, defining the system dynamics through differential equations relating position, acceleration, and control inputs along each axis, as well as equations for a proportional-derivative control system to determine the control inputs based on desired position and velocity. A MATLAB script is provided as an example to numerically solve the system of coupled differential equations that model the motion of the whiteboard cleaner along both axes based on the control system.

Uploaded by

amla.y360
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Mathematical model for a whiteboard cleaner with two stepper motors, one controlling the

movement along the x-axis (forward and reverse) and the other controlling the movement
along the y-axis (up and down). We'll consider a simplified model with basic dynamics and
control system equations.

System Dynamics:

Let x(t) represent the position along the x-axis, and y(t) represent the position along the y-
axis. The dynamics equations for the system can be expressed as follows:

1. Motion along the x-axis:


x¨(t)=ax⋅ux(t) Here, ux(t) is the control input for the x-axis motion, and
ax is a constant related to the motor and mechanical properties.
2. Motion along the y-axis:
y¨(t)=ay⋅uy(t) Similar to the x-axis, uy(t) is the control input for the y-
axis motion, and ay is a constant.

Control System:

For a proportional-derivative (PD) control system, the control inputs can be determined by
the following equations

1. Control input for x-axis:


ux(t)=Kp⋅(xdes−x(t))+Kd⋅(x˙des−x˙(t)) Here, xdes and x˙des are the
desired position and velocity along the x-axis, and Kp and Kd are the
proportional and derivative gains.
2. Control input for y-axis:
uy(t)=Kp⋅(ydes−y(t))+Kd⋅(y˙des−y˙(t)) Similar to the x-axis, ydes and y˙
des are the desired position and velocity along the y-axis.

Complete System of Equations:

Combining the dynamics equations and control system equations, the complete system can
be represented as follows:

1. Dynamics along the x-axis:


x¨(t)=ax⋅[Kp⋅(xdes−x(t))+Kd⋅(x˙des−x˙(t))]
2. Dynamics along the y-axis:
y¨(t)=ay⋅[Kp⋅(ydes−y(t))+Kd⋅(y˙des−y˙(t))]

These equations form a system of coupled differential equations that describe the motion of
the whiteboard cleaner along both the x-axis and y-axis, taking into account the control inputs
and desired trajectories. Please note that the actual modelling might require additional
considerations, and this is a basic representation. Adjustments and refinements may be
necessary based on the specific characteristics of the whiteboard cleaner system.
Creating a complete mathematical model and control system for a whiteboard cleaner with
two stepper motors, including movement along both the x-axis and y-axis, involves defining
the system dynamics, control laws, and implementing them in MATLAB. Below is a
simplified MATLAB script to give you an idea. This script assumes a basic PD control
system for simplicity.

Mathlab code
Explanation:

 The script defines symbolic variables for time t, positions x(t) and y(t), control inputs
ux(t) and uy(t), and parameters.
 System dynamics equations and PD control laws are defined symbolically.
 The control inputs are substituted into the dynamics equations.
 Parameters and initial conditions are set.
 The system of differential equations is solved symbolically using dsolve and
numerically using ode45.
 Results are plotted to visualize the motion along the x-axis and y-axis.

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