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Dina Lestari(140310130022)

 Three-Dimensional Cam

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Three-dimensional cam or CamoidCamoid is a combination of radial and axial cams. It

has three dimensional srface and t!o de"rees-of-freedom. T!o in#ts are rotation of the cam abot itsaxis and translation of the cam alon" its axis. $ollo!ermotion is based on both the in#ts.

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 Three-DimensionalCam

$i"re l is a #lan %ie! of a cam follo!er assembl& in !hichthe #resent in%ention is embodied'

$i"re 2 is an enlar"ed sectional detail of the cam follo!erin accordance !ith the #resent in%ention.

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(s)

 R(s

)

 Y(s

)

Kontrol

erPlant

DIAGRAM BLK 

 Three-DimensionalCam

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Dengan K = 2 dan p = 2

 

!"#G$I TRA#$!%R

 

 Three-DimensionalCam

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*en"+ian ,istem ,imlin

,imlasi es#on ,istem /nalisis estabilan ,istem

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,ILI 

Controller *ro#ortional Deri%ati%e ( #  Ds)

 Three-DimensionalCam

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5,*6 ,I,T5

Res&on $te&

 * 2

 D 2

 Three-DimensionalCam

Step Response

Time (seconds)

 A m p l i t u d e

0 2 4 6 8 10 12 140

0.5

1

1.5

2

2.5

System: ft

Rise time (seconds): 2.8

System: ft

Settling time (seconds): 8.69

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5,*6 ,I,T5

Res&on

Im&'lse

 * 2

 D 2

Impulse Response

Time (seconds)

 A m p l i t u d e

0 2 4 6 8 10 12 14-0.1

0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

System: ft

Settling time (seconds): 9.95

System: ft

Peak amplitude: 0.756

At time (seconds): 0.741

 Three-DimensionalCam

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//LI,I, ,I,T5

Root Loc's

 * 2

 D 2

 Three-DimensionalCam

-6 -5 -4 -3 -2 -1 0 1-8

-6

-4

-2

0

2

4

6

8Root Locus

Real Axis (seconds-1)

 I m a g i n a r y A x i s ( s e c o n d s - 1 )

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T"#I#G K#TRL%R (K & dan K D)

Res&on

$te&

 #  11.72

 D  8.349

323.2

es#onse

 Time

0.8081

 Three-DimensionalCam

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R%$P# $I$T%M

Res&on $te&

 #  11.72

 D  8.349

Step Response

Time (seconds)

 A m p l i t u d e

0 10 20 30 40 50 600

2

4

6

8

10

12

System: ft

Rise time (seconds): 16.3

System: ft

Settling time (seconds): 28.9

System: ft

Final value: 11.8

 Three-DimensionalCam

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R%$P# $I$T%M

Res&on

Im&'lse

 #  11.72

 D  8.349

 Three-DimensionalCam

Impulse Response

Time (seconds)

     A    m    p     l     i     t    u     d    e

0 5 10 15 20 25 30 35 400

0.5

1

1.5

2

2.5

System: ft

Settling time (seconds): 26.2

System: ft

Peak amplitude: 2.28

At time (seconds): 0.408

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A#ALI$I$ $I$T%M

Root Loc's

 #  11.72

 D  8.349

 Three-DimensionalCam

-3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5-15

-10

-5

0

5

10

15Root Locus

Real Axis (seconds-1)

 I m a g i n a r y A x i s ( s e c o n d s - 1 )