ECE 461 - Homework Set #4

EE 461 - Homework Set #4

Due Monday September 22nd - 5PM

1) (State-Space Revisited): Find the transfer function for the circuit used in ECE402 - Lab #5.
1M
R

R2
Y

10k
2 741 3

-100U
0.01 6

100k

100k

100k

B
0.01

C
0.01

100k

D
0.01

741

100k

R k= 1M

1a) Write the voltage node equqtions

sC + 2 V A (sC)(100)U 1 V B = 0 R R sC + 2 V B 1 V A 1 V C = 0 R R R sC + 2 V C 1 V B 1 V D = 0 R R R sC + 2 V D 1 V C = 0 R R
1b) Write these equations in state-space form: Solve for the highest derivative and rewrite...

sV A sV B sV C sV D

2 1 RC RC 0 0 V A 100 1 2 1 = RC RC RC 0 V B + 0 1 2 1 0 RC VC 0 RC RC 1 2 V D 0 0 RC 0 RC

sU

R 2 Y= R VD = 0 0 0

R 100k

VA VB VC VD

+ [0]sU

Trick: Since multiplication is commutative

Y = G sU = s G U
R 2 R 2 Y= R sV D = R 0 0

1 RC

2 RC

VA VB VC VD

+ [0]U

ECE 461 - Homework Set #4

So...

sV A sV B sV C sV D

2 1 RC RC 0 0 V A 1 2 1 = RC RC RC 0 V B + 1 2 1 0 RC VC RC RC 1 2 V D 0 0 RC RC

1 0 0 0

Y= 0 0

100R 2 C

200R 2 C

VA VB VC VD

+ [0]U

1c) Find the transfer function from R to Y. Let R2 = 100k

R=100000; C=0.01e-6; RC = R*C; A = [-2/RC,1/RC,0,0;1/RC,-2/RC,1/RC,0;0,1/RC,-2/RC,1/RC;0,0,1/RC,-2/RC]

A = -2000 1000 0 0 EDU EDU EDU EDU EDU 1000 -2000 1000 0 0 1000 -2000 1000 0 0 1000 -2000

B=[1;0;0;0]; C = 100*[0,0,1/RC,-2/RC] D=0; G=ss(A,B,C,D); tf(G)

Transfer function: 1e011 s + 0.01664 ---------------------------------------------s^4 + 8000 s^3 + 2.1e007 s^2 + 2e010 s + 5e012 EDU zpk(G) Zero/pole/gain: 100000000000 s ---------------------------------(s+1382) (s+2618) (s+3618) (s+382) EDU

ECE 461 - Homework Set #4

2) Cart and Pendulum: A rocket is to be moved from a hanger to a launch pad. The base is to be controlled so that the rocket remains upright. First, find the dynamics of this system. A simplified model is shown the right. 2a) Find the position of the two masses as a function of X (cart position) and Q (angle of the rocket)

x1 = x y1 = 0

x 2 = x + L sin y 2 = L cos

. . . x 2 = x + L cos . . y 2 = L sin
1kg

2b) Find the potential energy of this system (assume g = 9.8 m/s2)

PE = PE 1 + PE 2 PE = 0 + m 2 gL cos
2c) Find the kinetic energy of this system. Include both translational and rotational energy.
Q 1m

KE = KE 1 + KE 2 .2 . 2 .2 1 . m2 x KE = 1 m x + + 0.15 + L cos + L sin ( ) 1 2 2

(0.15 due to rotational energy in the ball)
F 1kg

. . .2 .. 2 2 KE = 1 m x 2 + 0.65m 2 2 1 x + L + 2x cos
2d) Find the dynamics of motion using LaGrange formulation.

L = KE PE . .2 .2 .. x 2 2 L= 1 m x + 0.65 m + L + 2 x cos 1 2 2 m 2 gL cos

L d L . T = dt . . .. d 2 T = dt 1.3m 2 L + 1.3m 2 x cos 1.3m 2 x sin + m 2 gL sin .. .. + 1.3m 2 x T = 1.3m 2 L 2 cos x sin + 1.3m 2 x sin + m 2 gL sin

+ 1.3m 2 x T = 1.3m 2 L 2 cos + m 2 gL sin

L d L . F = dt x x

. . . d x F = dt m x + 1.3 m 1 2 + cos 0 . (1.3m 2 )(sin ) 2 F = (m 1 + 1.3m 2 )x + (1.3m 2 cos )

ECE 461 - Homework Set #4

3) Ball and Beam System. A ball berring is to be balanced on a beam (similar to the shoot-the-moon game). First, find the dynamics of this system. 3a) Find the position of the ball and beam as a function of X (position of the ball on the beam) and Q (the angle of the beam) ball:
Ball mass = 1Kg Beam mass = 1kg Beam length = 1m X

(x1, y1)

x 1 = x cos y 1 = x sin
beam:

. . . x 1 = x cos x sin . . y 1 = x sin + x cos

Q Pivot

T F

gravity = 9.8m/s

J=

1 mL 2 12

(from freshman physics book)

angle =
3b) Find the potential energy of this system (assume g = 9.8 m/s2)

PE = mgx sin
3c) Find the kinetic energy of this system. Include both translational and rotational energy.
2 2 . 2 1 . . . . m x + x KE = 1 J + + 0.15 cos x sin sin + x cos 2 2 . . .2 2 2 KE = 1 J 2 + 0.65m 2 x + x

3d) Find the dynamics of motion using LaGrange formulation.

. . .2 2 2 L= 1 J 2 + 0.65m 2 x + x mgx sin

L d L . F = dt x x

.2 . d (1.3mx) F = dt 1.3mx mg sin .2 F = 1.3mx 1.3mx mg sin

. . .2 2 2 L= 1 J 2 + 0.65m 2 x + x mgx sin

L d L . T = dt . . d 2 T = dt J + 1.3mx (mgx cos ) .. + 1.3mx 2 + 1.2mxx T = J (mgx cos )