MMM 251 Dynamics & Conrot Control Engineering Semester 1 (Stage 2, Year 2000-01) Dr Ri Bicker (CEng, MIMechE) Department of Mechanical, Materials & Manufacturing University of Neweasle upon Tyne (2000/2001) Stage 2 ~ Course Notes Syllabus |. Vibration - 1 degree of freedom systems Forced vibrations ~ 1 dof systems, transmissibility Introduction to Laplace transform in control engineering Introduction to control systems 1 order control systems (e.g of water level contro!) 24 order control systems (inertia & damping) ‘Transient frequency response (2% order systems) Steady state errors (Final value theorem, system type) ‘Tutorial & Assignments — worked solutions (this lecture notes belongs to Sam ¢ P Wang)Siynawnes Cooled = Sis eo bvad fs.) OMecied =F Stloess + Forsiso aliases Gag Boek roa)T tN “ye agony wit FE Feel Wa there OEE ‘Glek { For unde demmpeet case war fi P= 3n Rots = “am tC (Se) nity dim = 7 Wn delet + Be saat eG TRE Analisis Bred ts a Aawmper nase Lvcbrefes fever x2 ty sin wt Ze yw os at s 2 362 -y, FP sin wt q ws (el = endeget} aur ft (GPR Ae jet Jj bee)? = bor PE 5 tin BR Apes pd prysctuoeUNIVERSITY OF NEWCASTLE UPON TYNE DEPARTMENT OF MECHANICAL, MATERIALS & MANUFACTURING ENGINEERING MMM251 MECHANICS IL Mod Ref. /Mod.Titte [Sheet No. | Module Outline Vibration and Control 4 Lecture Outline- Vibration 1 5. Introduction to Vibration. ‘What is meant by vibration? Examples of catastrophic failure in structures due to fatigue. Examples of vibrating systems. Simpleharmonic motion simple and compound pendulums revisited. Newtons second law of motion and equations of motion. Modelling of simple spring mass systems using free body diagrams. One degree of freedom systems ‘What is friction? Review of basic structural elements, ic. mass, spring anddashpot. Free vibration of a damped spring mass system including torsion. Importance of connections via free body diagrams. Homogeneous 2 order differential equations. Forced vibration in 1 dof systems Concept of externally forced system. Non-homogeneous 2 order differential equations. Particular integral and complementary functions. Solutions magnitude and phase relationships. Frequency response. Special cases of forced vibration in 1 dof systems Forces transmitted to supporting structures transmissibility ‘+ Rotating elastic bodies whirling shafts. ‘* Vibration due to out of balance forces. Introduction to Laplace Transforms ‘Why use transformations? The Laplace transform and variables. Table of Transforms and theorems. Solution of 1* order differential equations. ‘Using partial fractions with step and ramp inputs. Concept of a transfer function and the complex plane. MMM251 10/99 R. Bicker Departmental Ref, Revise Date Lecturer Page i of 2 _|Lectu ine_Control 6. Introduction to control systems Concept of open-loop and closed-loop systems. Examples of first and second order control systems. Significance of feedback ‘Modelling using block diagrams functional blocks and transfer functions. 7, Kirst order control systems ‘Modelling of a water level control system _linearising the model. Block diagram and solution of system equation. Significance of the time constant. Solution using Laplace transforms ‘Transient response to step and ramp inputs in the time domain, 8, Second order systems Demonstration of a second order servo-position mechanism. Position and Velocity feedback loops. Modelling of the system and block diagram. Dynamics of referred inertia and damping. * Closed loop transfer function. 9. Transient and Frequency Response of a 2" order system ‘Transient response of a 2 order system to a step and ramp input Frequency response of a 2" order system. Bode diagrams and bandwidth decibel notation. 10. Steady state errors Control system performance. What is steady-state error’? Examples. Steady state errors. Final value theorem. System Type. + Three term controllers, ie. PID MMM251 10/99 R. Bicker Departmental Ref, Revise Date Lecturer Page2 of 2UNIVERSITY OF NEWCASTLE UPON TYNE Department of Mechanical, Materials & Manufacturing Engineering MMM251 MECHANICS It Mod.Ref. /Mod.Title Lecture No. 1 Vibration 1 - Introduction Lecture Objectives What is vibration? When is it harmful and when is it useful? Catastrophic failure due to fatigue. Examples of vibratory systems. Simple harmonic motion - Simple and Compound Pendulums. Newton’s second law of motion and equations of motion. Modelling of a simple spring-mass system - Importance of using free body diagrams. Definition of vibration- Oscillation of a body about a position of equilibrium. Catastrophic failure due to fatigue induced by vibration- Tacoma narrows road bridge, aircraft failures. Examples of other less notable failures. Vibratory systems- Pendulum - simple harmonic motion how does a clock work! Spring-mass - suspension systems i.e. vehicle suspensions and washing machines. Torsional systems - rotating machinery i.e. large rotors, shafts etc. Musical Instruments - string, wind and percussion. ‘Structural vibration - in large bridges, towers, buildings. Buoyancy - e.g. ships. In all above examples vibratory motion will occur if the body is disturbed from its position of equilibrium! ‘Simple and Compound Pendulum- simple harmonic motion. Relationship between natural frequency of vibration @, = Vg/. Importance of free-body diagrams and equations of motion based on Newtons 2" law of motion, JF=ma Frequency of vibration is independent upon the mass, but not the length of the string in a simple pendulum. Ina compound pendulum we introduce moment of inertia of a body about an axis of rotation. about centre of gravity and any other point. ‘Simple spring-mass system- Concept of linearization of the spring constant Equilibrium of the mass via FBD - explanation of choice oftoordinates and direction of forces. Solution based on x=x,sinat and cyclic rotating vector. - prove « = Vidin Periodic time T, frequency @=27/T radians/second and cycles/sccondp = 1/T (Hertz) MMM251 3/00 R. Bicker Page 1 of 10 Departmental Ref__| Revise Date LecturerUNIVERSITY OF NEWCASTLE UPON TYNE | L Department of Mechanical, Materials & Manufacturing Engineering MMM251 MECHANICS I Mod Ref. Lecture No.2 Vibration - Damped vibration Lecture Objectives What is friction? Basic dashpot - Linearization of a damper and symbolic representation. Review of basic structural elements - translation and rotation Free vibration of a damped spring mass-system. 2” order homogeneous differential equations. Friction - different types of friction and their characteristics.i.e. Coulomb and viscous friction - non- linearities. Linearization based on viscous friction proportional to velocity. Dashpot - Representation of the damper in both translation and rotation. Symbolic notation. Review of basic structural elet is- In both translational and rotational dynamic systems, i.e. springs (corsional and linear), mass and moment of inertia,dashpots. Free vibration of a damped spring-mass system- Demonstration of suspended mass and torsional spring mass system to give 2" order characteristic equation in the form 7X + ck +kx =0 Solution based on X=XE™, which gives quadratic solution of the form md? +ch+k =0 Cc Derivation yields the roots A) 9 =—— " m ‘The behaviour of the system depends upon the value of the radical term! Time histories. Particular cases - introduction of damping factor 6 = C/C, ) 2 Critically damping - ie. when { © Kuo 2m m Underdamped case, ie. C a Ka Me vca k Ye So x wl 20 ee | Fle sian . jee foe BO | _ aguas 4 phrctine- 00g dass aGtoe dicoyy fmt a= he ew sles tt Me t eh + & We row 6 moat spinsat TRE oe 5G “Sab ed plone 7 doops “ibe )fap 7 AL Crttecd, _ — = poten { Potro mntd bs pelea | spite 13 combedSysite t borat 4 lene) emples _ shahDamped free vibration - Given by the equation mk% + ck +kx =0 Assuming solution of the form x= oe" from which we obtain - Mos 2 Mt x=OAe X=ONE By substitution and simplification yields the quadratic equation mv +cXh+k =0 whose solution has the two roots c c k Maa = "2m * (ss m Thus, x= Ae™ + Be" where A and B are arbitrary constants. The resulting behaviour of the system is thus largely dependent upon the value of the radical term 2 c\_k ( 2m ) mDisplacement (x) Transient Response of a second order system subject to free vibration System equation: mk + cx+kx =0 Where m=1, k=1 (i.e. @,’=k/m and C=c/2m), and the initial conditions are x=] and =0 1 ost \,~ Se C=1 (Critically damped) 06 t=0.5 04 Time (seconds) -0.8' ——_ 0 2 4 6 8 10 12 14 16 18 20w - yye Vibratueny ey oN has = Looe 2100410 Win, = 22: = rateting Spb vege TEI ing gn nde Pianaat ecb ul mon vt bay ¥ k(@8)> 8s TE 2 Ie.\ gate a MX tek tex 2 A sot fos cle we Sloe hin Sole, aun (buf wot & “Lae red Kk robe 5g se wtae Lntgesl (1) sol gularn Sait beck tie dad gel PE Congas by fowes (¢e) —— Teno? tec sith “hme. x= x, sm lwt-¢ ) Bt how cs (wt) es WB - Xo sin Cw _ Psy ( wt=p JC oto i coe =A Sa (ust) _ — sfnctins sw (wt~P) = sm ot cord —Uswt sn cs lot -$) > Gswt ary t snot sad = rise, 13" | su wt caf - cant on gf ] ex w | Osu of ~ soot sand | = Me { sia_pt csp - asut Sug [2 wt st ( toutes) rileel eels beled_ Leepie Coveepts 4. ental AL Peveloliean, 2 presbaveal i | ——rssitnacecimles anasto. vs Befeel BE t mw i encact Tomastrh hice amg Sa % > Sguation

2 Frequency 0 Magnitude IG(ia)! Phase $i) 0 1 0 ®y 26 -90° oo 0 -180° MMM251 3/00 R. Bicker Page 3 of 10 Departmental Ref. _| Revise Date LecturerUNIVERSITY OF NEWCASTLE UPON TYNE Department of Mechanical, Materials & Manufacturing Engineering MMM251 MECHANICS It Mod Ret Mod-Tite Lecture No. 4 ‘Transmissibility and special cases of forced vibration Lecture Objectives * Forces transmitted to supporting structures - transmissibility * Rotating elastic bodies - whirling shafts. © Out of balance forces. ‘Transmissibility- It is important to know the magnitude of the force transmitted through to the supports. This is obtained by considering those forces acting on the structure. The transmissibility ratio is usually plotted against frequency to give an indication of how the system interacts with the structure. Note that whenever @ > V2q, it means the addition of more damping actually increases the magnitude of the force transmitted, ~| Example of transmissibility fora out of balance rotating machine. Whirling shaft- Slender shafts usually rotate eccentrically which introduces a rotating force vector. It is [+ important to be able to predict what the resonant frequency will be in order to establish a desirable range of speeds. A centripetal acceleration of the out of balance component creates a ‘centrifugal force’ which has the magnitude F = mra, where r is the combined eccentricity of the lumped mass and the resulting whir! radius. The lateral stiffness of a circular shaft is given byK = 48EI/° where Lis the length of the shaft, and is the second moment of area of the shaft (nd"/64) ‘The radius of whirl is given by where e is the eccentricity, and © is the resonant frequency of vibration. Worked example of a whirling shaft problem. Out of balance systems- The theory is along the same lines as that for whirling shafts, inasmuch that the out of balance force is usually based on a rotating mass which has an eccentric centre of mass. ‘The excitation force is thus derived in the formF = mrei?sin(«). The solution is then along the lines of forced vibration theory. A worked example of either unbalanced rotating equipment or a washing machine drum will be given. MMM251 3/00 R. Bicker Page 4 of 10 Departmental Ref _| Revise Date LecturerFORCED VIBRATION OF A SPRING MASS SYSTEM RV Le F Up, x C cx x | Free body diagram F is aharmonic forced excitation where F=F 9Sinat Using Newtons Second Law of Motion ( ZF = ma ) used , snlot-f): 5 System equation is: we Bb H es 4 Moret wrx = (Bf le Mx +Cx-+Kx = F,Sinat Note Solation = Camplomemleng function pectroate is The particular solution is assumed to be of the form: Componnts , 5 x= XSin(wt— 9) dros vl where 6 is the phase angi") od By differentiating x to give velocity and acceleration terms, and substituting into the system equation, then by letting Sinwr=1 (:.Cos@t=0), we get —Mx,@2Cosd + Cx @Sind + Kx yCosd = Fy and by letting Cos@r=/ (.".Sinwt=0), then Mx,.@Sind + Cxy@Cosd — Kx,Sing = 0 ( sind (Maw Kx] 4 6 ae :Thus, the phase angle 9 is given by ro oS eo i E Tang = Sind __Co ae ne Cosd K- Ma? he and the amplitude of vibration F, wt conpinot ) ( dagut of ' 7 (x - Mo’) + (Cw ? The relationships between forcing frequency @, phase angle and magnitude ratio x,/F, is given below: eset Inpot i" Frequency @ Phase angle @ Ratio x/Fy very small o VK O= On 90° Co very large 180° 0 y= x, sin (wt ~ 6) f= tor (Hike) bbe (ESS)Frequency response of a second order system (forced vibration) dapoel afte Sy Given the system equation my +cy + ky = Xecuter bow In the frequency domain this can be represented by wt bell Ws) exoTe wes cue (5 ) 2 +20 Os+0," where the amplitude ratio and phase are given by 6 =—Tan! feed 1-@/o,) ; [note: magnitude ratio = 20 logyo(y/x) in decibels] For the particular case of m: i.e. @,’=k/m and for values of =c/2m) in the range 0.1 - 2 the Bode diagram (or frequency response) “| phase f VS MoyLecture - Coutrol deo Hon f + OG te Jao" Gwe) = euJe. Trea bewe oe ty Ee £922 709 spon = 27P pel = 2902 2K = 292-7 vd/sfbuduchar <9 Catal Sisleoa > Naples ang . Ble E- ty CTUATOR = Reedbecke _ Lic leek contol Syste Asse the fast os YF Goat . petacon ef pete feel beole, = ls J Ged oh) = a a gy ot) 2 © (bed sh) = = Ne Chef) % le yt BEA eC) bey s Cre") 1 063 heb he deste | slopehy aiyles thal wher the ihc a flan ve Quy 2 thin Zhe Mesh “adel by cote ell ntuer he gue. tah | the Ah akin tos. hiow Frnt. eont, Tot | |- | To | | | | |adas the extol Sho tpl kot?[st ars cael _sythee Hee _daylon fe : 5 6) AS eS == 4 oe — ~ ) — bampe TNIVERSITY OF NEWCASTLE UPON TYNE DEPARTMENT OF MECHANICAL, MATERIALS & MANUFACTURING ENGINEERING MMM251 MECHANICS I Moa.Ref. Module.Title 1 AN INTRODUCTION TO LAPLACE TRANSFORMS ‘Sheet No. Tntroduction “The theory of Laplace transforms involves the application of 2 mathematical transformation to solve Tinear constant onefficient differential equations, and can be compared with the logarithm method that simplifies arithmetic operations. | The Laplace transform is defined as if@l= F@)= [ fe*.ae FG) is defined as the Laplace transform of f(), where s = i. [and i=sqri(-1)}, «is the frequency (in radians/second}, and fis time. 's’is called the Laplace variable. “Thus a differential equation given by /() can be solved by 'simply" transforming the equation into the Laplace domain, as fonction ofs, The solution in che time domain is obtained by determining the saoene transformation L/F()] to yield (Q. Tables of ransforms have been formulaced (see overleaf), including several common theorems. For example, the unit step funtion f( = 0 when <0 and f( = J when 6. « « 1 F(s)= [feat = fie“ .de é ~ a 0 Ss ‘And the unit ramp function is given by f()=1 for 20, F(s)= ftedt=(-Lew +] i a s s ‘As an example, consider the following system: et ‘his is given by the equation x( ~ yi) = tdy/d, Assume the input x(t) is @ unit step, Le x(=i/s from table of transforms. ‘MMM25i71 1199 R.Bicker Page of 2 | Departmental Ret Revise Date Lecturer _tTime function Unit impulse Unit step Unit ramp Polynomial Exponential Unit sine wave Unit cosine wave Damped sine wave Damped cosine wave ‘THEOREMS 1. Linear Transformation: 2. Multiplication by a constant 3. Shifting Theorem: 4. Differentiation in the time domain: Ifall initial conditions are zero, then 5. Final value theorem: an ao ro Sin(w ) Cos(w t) e* Singwt) e*Cos(wt) 7 where yo tan” AO +80 KO) ft-T) ano dt fimit £(¢) toe Valid only if all poles of F(s) have negative real | parts with the exception of one pole at the origin a? +o? SHORT TABLE OF LAPLACE TRANSFORMS ova? +0 s(sray? +07) Fis) + Fa(s) KF) "FG sF(s)- (0) FFs) limits FOS) 330 MMMasii Deparmental Ref. R. Bicker Page 2 of 2 Lecturerap Lop <= fq woat8 s1 9 = 21 adoys om pue ‘9+ = 2 ‘oy 779" 0 8 OM PUES, IF += “OMT (ape9'°D E9'0= 990 =). 2 [=A uaKy a= J uaKA THY OION, Aosoenoun oe @ ees 4a oi st asuodsar oy, “ou ye eoursut St UE] St 74S anyone ay doydiuos oxy page St, 2 WH ap waer-0K 2iqer 211 ur suuoysuen yoreM kq poureyqo st waoysuEN sronuT ayy, ou s20p uf SKESOPTN wey s sek ‘sm, equ eve a+=o | var of septs ynoq Jo 8 soreseuinu ayp Uo *, Jo stuatoja09 Suen ses ast] s T sa+(as+D¥ wr s = tos av ‘sx pundxe o1 suonseyy ened Susp) = =(8)K soup ‘577 = (s)x soyqey wory aue aseyd orp pue ‘{ONx+ (Or= for o|= fo jp| spyusou oy, Mog KaouySouy + ug wey a1 ‘(O1)X'1+(O1)y=(01)9=(5 9 da NEMO AUT, snp ‘or = s Sumoy uuatp ‘(or-s) Kq uonenba jo septs nog Sidnjnun Cy pu or Sep($440 Jus or )o|=(3)6 {quan st nt reprosmars 03 (op wroysks svoUN kee JO AmOTARYEG at) ‘FaAaMOY ‘waIsés JapIO ISI] B UO Pasnoo] svY SISATEUE STU, eu (compe fovebany a a o 9p) some (00p) ose suns 8 “6h = 9 asm pu “g/t = 01 ge st apne oun ‘yep of =o vay YN HON“ = 2 uONA 8 nojoR WERE 2poq mu, “Aovonbayysuston opt Buypuodsats oy Yoo, (ox 1191 30192 “91 (ap) sjequoap wi | (oq ka] 1d Aq paurengo st asuodsar Kouenboyy ayy, 06> 0 “co Sh ahr *I=O 0 0 i 0=0 oy soadsar yn aseyd ur poayrys pure parenuane st (2)C dino OU, 20+ (ee rayne 22D soja 0 -),.uoL=(Iw2y/Bouy), uel => paw el?) +1 20 (208) (2° ar ge “orayanUNIVERSITY OF NEWCA; Department of Mechanical, Materials & Manufacturing Engineering MMM251 MECHANICS TL /Mod.Ref. Mod-Title Lecture No. 5 Laplace Transforms Lecture Objectives Why use a transform? TheLaplace transform, and variables. Table of Laplace Transforms and theorems. Solution of a first order differential equation and the time constant. Using partial fractions to solve for unit step and ramp inputs. Concept of a transfer function and the complex plane. Laplace Transforms - The theory involves the ap, Uf@l=F(s)=[f f@.e* at s=i@ is called the Laplace variable € d/adt in the time domain). jon of a transformation of the form Handout of a short table of transforms provided at this point, and the unit step function/{t) = 0 when t<=0 and f{t) = I when t>0 evaluated. A first order differential equation of the forma(#) y(t) = t.dy/dt is then presented, in which the inputx(t) is given as a unit step, i.e. x(s)=1/s. The significance of the time constant is reiterated. — 5) MET Co ‘The concept of a transfer function is also introduced relating the input to the output, ic. x(s) 1 y(s) ol > 1+st |} The method of partial fractions is used evaluate the inverse transform to give yWt)=l-e" The solution to a unit ramp input 1/s* will be derived, thus ywWt)=—t4+t+te"* Frequency response of a 1" order system ‘The input x(t =sin( oo) is transformed to 2 (s+i@)\(s —ie) The solution is derived in the form W(t) =|G(iw )Sin( ot +6 ) and the complex plane is introduced to illustrate the importance of the real and imaginary parts to the solution. MMM251 3/00 R. Bicker Departmental Ref. _| Revise Date Lecturer Page Sof 10UNIVERSITY OF NEWCASTLE UPO! NE Department of Mechanical, Materials & Manufacturing Engineering ‘MMM251 MECHANICS Ir ModRef. | Mos-Tive Lecture No. 6 Introduction to Control Systems X Circuit concept and Lecture Objectives Concept of open-loop and closed-loop control Examples of some control systems. Importance of feedback. ‘Modelling control systems using block diagrams. Open-loop versus closed-loop - The significance of whether the system is open-loop or closed-loop is discussed, in the context of whether a-priori information is available. A blindfolded volunteer will be used to demonstrate the difficulty of being able to ‘accurately’ move (or position) a pointer within a target circle. In this case aneuro-muscular control system with visual feedback. Inverted pendulum - Balancing a stick is also a good example of where closing the loop around the visu. feedback aids the task of keeping the stick upright. Try standing on one leg - the abi becomes significantly impaired when the eyes lose a focal point - or when alcohol is introduced (a disturbance). Examples of industrial control systems- Several examples of common and not so common control systems will be studied, e.g. thermostatically controlled water heater, a central heating system, and a robot position control system. - This will stress the importance of sensory feedback to regulate the variable being controlled, by considering types of feedback sensors/transducers frequently used. .ck diagram representation - The ability to represent the system symbolically will also be illustrated. The circuit allows the interconnection of the different physical components to be visualized, whereas the block diagram uses transfer functions to represent each of the functional elements, Block diagram synthesis- There a several principle components that make up a block diagram, summing junctions, constants (or gains), integrators and transfer functions. Software called SIMULINK is available| that can be used to produce models of dynamic systems. The figure below illustrates how a control system can be represented, showing the ’main’ functional blocks, and their interconnection within the Departmental Ref Revise Date system, Desired Actual output tput pe - Controller }——me] Plant. | OUPUL aN Feedback MMM251 3/00 Page 6 of to stand uprightUNIVER: CASTLE UPON TYNE Department of Mechanical, Materials & Manufacturing Engineering MMM251 MECHANICS II Mod Ref. Mod.Title Lecture No. 7 First order control systems Lecture Objectives © What is a first order system? Defining the system input and output. * Modelling of a water level control system andlinearisation of system parameters. * Solution using Laplace transforms - significance of thetime constant. ‘Transient response to a step input. Water level control problem ~ Water, at constant pressure, is fed into the tank via a manually operated valve and then through a control valve. The flow into the tank, Qe (i's), is regulated by the position of the float, ie. by the head of water A (m) in the tank. Water flows out.of the tank at a rate of Qou (mm"/S) through a manually, operated valve, and is also dependent upon the headh. The tank has a nominal cross- )| sectional area (mm), Qin em parameters - If the Control tank is initially ‘empty how does it fill up, ie. valve Set_height what is the relationship between h and time #2 [~ iy <= (To produce a model of the system we must ' analyse each component of the system, and . | thus derive the ‘system equation(s)’.] Actual height + How does Qi, vary with height h? * How does Qo vary with height h? Area of tank © What happens to A when Qin > Qou? i Qout Continuity Equation - Volumetric flow rates into and out of the tank, Qi, - Quy = =att dt , , dh This yields the first order differential equation K., ( h, ep Mace — Koya “ inl I Kou a Solution -Using Laplace transforms, and assuming the initial conditions are zero, ie. at timer=0, lgs=0. there is no outflow, Kaw = 0 then Maggy = Ayep (1 7!” ) where T = A/Kiy and if there is an UT ) where K=(Kint+Kou)/Kin and T = WK.“ Dyep outflow, then f,,., = 2 (Je ‘Transient Response - The response of the system is described by its time constant’. Sketch the step response when initial conditions are zero. Block diagram - Draw the block diagram from the system differential equation in theLaplace domain, Conclusions - There are many other examples of first order control systems that can be analysed, based on speed, thermal ete. - all of which are described by a first order differential equation MMM251 3/00 R. Bicker Page Tof 10 Departmental Ref__| Revise Date LecturerUNIVERSITY OF NEWCASTLE UPON TYNE Department of Mechanical, Materials & Manufacturing Engineering MMM251 MECHANICS IL x Mod.Ref. Mod Title Lecture No. 8 ‘Second order servo-system Le tive ‘Demonstration of a servo-position mechanism. Position and Velocity feedback loops. : Derivation of the system block diagram using circuit analysis and FBD. Referred inertia and friction. System equation. Description of the system 9 re A DC servo-motor drives a load through a gearbox and drum. Position and velocity feedback is derived by a potentiometer and tacho-generator, respectively. A power amplifier is used to convert the position error into the armature current, which in turn generates a torque proportional to the error. Using FBDs the dynamic equations are given by, ' NT, -T, =s’0,J + s0,C tN Dy ang C=C, +N°C, 'm are the referred inertia and friction terms. oor where System block diagram- has the form (you annotate the diagram) ve bn ‘i ke Save Velouty Pretest N [ety Tp pene tee ‘ 9K =Ty * f ‘System Equation - is given by 8, sy whete K=KpKo KiKi and Ce Js° +C,s+K MMM251 3/00 DepartmentalRet.__| Revise Date Lecturerz apple here” 1 Or- (0,36) F 92 - q Fes roles! & sprenk q pur m 305 4 yaspenb Suajog {f= qx pu "o}e = (gn) ax0ys wens (a+ 9(045)=,"O+so9¢+,5 (uarn6t) .79 slay 7 oo ” ‘ALTO amp Jo sowurmouep amp s9pisu0;) -pegypes 1 = "co Kovonbaxy yemveu Sua jst days-un arp zaprstion ajdurexa tre sy 02-909 49,07 ‘urarsks axp yo (5/1 ='9) < rors oe4 Hom Ty —s a7 0 20 4 1 <9 uous asv0 podump-1080 241, 1-9 uals ase pad -Ko0yn10 OU, oH} Smpnrou) > § > 0 uayM asvo pedtunp spun 2, ‘WrOy ayp tH payuasasdar aq ued (3-19) voHaunf safsur1 doay-pasop? 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Sore aM Le @S(I[oak cepts | sy ay exu | Gunter To err ees) + Li - SNe | He emprtimt Ts Climate. the. te dedlie ch spfion_ 2 Ge lS) ch eegrctaled r Det ie warty Fuliet syslcan ) | onl the tape al Dh i (2i- Rs) ae = a _ ~ Ge Se CI + G&D = —— “TT be ECs) 2 Re = a Oo ingubAte Balpoct 2 CEG. +4) Gp tt 2. iGpH = - ) hal Op HL a . hia characte ey Seo | tid (sy6. Fig 6 shows an angular position servo-system that incorporates a proportional plus derivative (PD) controller. The reference input @, and the output angular position 6, are derived using rotary potentiometers that have the same constant, Kp = 20 volt/radian, The P+D controller has a gain X, = 0.5 amp/volt, and derivative gain x. The controller generates a current { which drives a de servo-motor that has a torque constant Ky, = 1.0 Nuvamp The motor is connected to a load that has a moment of inertia J = 40 kgm’, and viscous friction C = 20 Novrad.s" a) Draw the free body diagram and show that the torque generated by the motor 7 is given by T, =, Js? + Cs] (smarts) marks) b) Draw the system block diagram, and show that the closed loop transfer function 4/6 is given by 8. K(1+st,) 0, Js? +s(C+Kt,)+K i where K = Kp.K.Kn (10 marks) ©) Calculate the value of % that will make the system critically damped. (10 marks) K CONTROLLER/ AMOLIEIFR2 vwusvrens = mwas conan, aysiu Ye” seve ino Oh Wilul, Oas af iNeruay oS used Ww onvie & Puilty O} yachus 7, over which passes an inextensible bent. A mass M18 attacied to the belt and . moves on a slide-way against viscous friction C. The actual position of 3 the mass is measured using a linear potentiometer, with constant K, . The desired position is set using a rotary potentiometer Ka and the e*ror between the actual position and the desired position is the input to a proportional plus derivative (P+D) controller, where K and rare the respective gains, The output of the controller is fed into an amplifier, of gain Ky , which drives the motor. The motor has a torque constant Ky Qs Draw a block diagram of the system and obtain the closed-loop transfer function, Using the values given below, determine the magnitude of the derivative gain r which will yield a critically damped response. 0.4 kgm? .025 m XY =2 kg 0.1 Nnvs* 20 volvim 1 volUradian = 1 Ampere/volt = 0.5 Nmv/Asmpere K = 1 vollvolt x u What are the practical limitations of using a P+D controller? Describe another technique that is often used to achieve the same response. ~ 6; ROTARY POT CONTROLLER AMPLIFIER= BDiep Ge Kou 9. CK Ge kim) # Be Co Cullipds fen) eG be Ts'o bp Ge kmpl & essietly ang fo, Cette ye —Sk Mal th otek Oye| itt i || ! i} | | | | mefee RT Lyi) eae Be ey) STE Shh fsismy + Bisbee bhi nl ABS (Ast + 2As a 8s 228 6 Os*xs) = 4(s)( 57 pds KS) S42 eS pe eS) = yb) Sass a EG of yal A 2B c cet! ee Stes ts: (say te Se Des pet enUNIVERSITY OF NEWCASTLE UPON TYNE Department of Mechanical, Materials & Manufacturing Engineering MMM251 MECHANICS IL Mod Ret. Mod.Title ‘Transient and Frequency response of a 2“ order system «Transient response of 2" order system to a step and ramp input. ‘© Frequency response of 2 order system. © Bode diagrams and bandwidth. ‘Transient response -A 2 order position servo- sytem is described by the following differential equation, yee 8. 5 ie “> +c4 8, +KO0,=KO, ré+c6 +o = ke dt In the Laplace domain this is given by, 8 2 2 9; 57+20Ms+0, expressed in terms of the natural frequency «, and the damping ratio G where @,” = K/7 and 26a, = CJ. ‘The closed-loop transfer function (CLTE) can be represented in the form 6, @, 8, —-| —__» —_,; 5° +26 5 +0, ‘The transient behaviour of the system is determined largely by the damping rati{, and we need to consider the following cases: i) The under-damped case when 0 << 1 (including C=0) ii) ‘The critically-damped case when (=1 iii) The over-damped case when {> 1 Sketch transient response for different cases. =G(s) 1 4 Frequeney response - Recall that Magnitude \G( ito) =(Re?+ Im? Phase ZG{i®)=Tan™ (Im/ Re) In this case, .{ 26a, \Gtio) = 1 and = —Tan-'| 2699 [-0'/o2) +@¢ 40,7 ieo; Consider what happens as the frequency @ is varied from 0— > Frequency @ Magnitude IG(ia)! Phase $(i@) oO 1 0 © we -90° © oO -180? MMM251 3/00 Bicker Page 9 of 10 Departmental Ref. __| Revise Date LecturerUNIVERSITY OF NEWCASTLE UPON TYNE, Department of Mechanical, Materials & Manufacturing Engineering MMM251 MECHANICS I Mod Ref. Mod.Title Lecture No. 10 Steady State Error ecture Objectives Control system performance. + Steady state errors + Final value theorem ‘© System Type Control system performance The behaviour of any control system is characterised by its output response toa change in input. We have to consider both the transient and cyclic behaviour of the system. However there are other factors which must be given consideration these include whether an acceptable steady state’ error is obtained, or if the system is stable, [Characterisew.r.to a step, ramp and cyclic response] Steady State Error - The principle objective of a control system is tominimize the errorbetwee nthe inpu.__/ and the output, once any transient has decayed. Consider the closed-loop system below, RS) s) cs) oO) EO) TG © (s) - + Hs) ~— The error E(s) is given by R(s E(s)=— BO) 1+G(s)H(s) where G(s)H(s) has the generalised form Gs)His)= K(t,8 + 1)(t,5 +1)...(T,.8 + 1(t,5 +L) 8? (Tyg St D( Tyo + D)(T,_18 + L(t, 8 +1) where m is the number of zeroes, n is the number of poles, and p is the number of open-loop poles at the origin, Systems are classified as being ofype 0, 1,2, where the type number is the value of p. Final Value Theorem- is applied to the system with the particular inputR(s), and yields the error e,,=lim, et =, lim, 8.E(s }=,limn, 288) _ 1+G(s)H(s) System Type - The magnitude of the steady state error for systems of Types 0,1,8 2 are summarized in the following table, System type 0 1 2 Input: aw Cts) Step input 1 ds I14K) 0 0 Ramp input t Use 0 UK 0 Accel. input P Us co ea UK MMM2S1 3/00 R. Bicker Page 10 of 10 Departmental Ref, _| Revise Date Lecturersayy pl pu ‘onuyur steyy usta ‘yd 1 2d&a Jo suraishs 303 9 = 2 sup 0 ou Te ajod | Seay 1 st 210M JT ‘ores Apwas in pus “y=yy dan twat ‘wdarsts 0 adr 120 2418 Sajod ou sey wLoIsAs atp emp FMAM +s™ayr(p es Yrs!) 6 Teer sy TST ASD) (@) wonenbe Susp, (O)H(0)9 =(5)H(s)0°mT =" ‘paw guejsuoo Jox1e uoRsod 10 yuaF2yJe09 1018 UORISod ays payye> sty ‘y+ Ss, S)O+ DAT _(SJH(S)9 +1 open T s/Ts s/t=(9g ‘ndus days yun © xapisuoy, [reanegou 20 orez st ued pear asous 1001 100 301 Sa0p (3)'8 Jo JONPUUIOUAD atp J PHA Kuo St maxOSIp ay} ¢ Pond (VHDL a eye oT. er Tepe MM =(s)ars OM =(3)9 “OTT arora ‘zona ayers Apears aip anduos (oy pasn st (K2oaqn aan[der] Ho ynopuey 99s) wayoOrA ane jeUL 2H. od yoonqea ayy st saquinu ad&y ap arayas~* “2 ‘T ‘9 addi 30 duraq se payssepo am suraisAg “urSiu0 oy we sajod dooj-uado jo saquinu ‘tp si d pur ‘sayod Jo saquinu 2yp st u ‘saouaz Jo soquinu oyp Stu aay ( (Lts'ar +s! ay (rest ay esl) 9s “Ter esay Tasarrsayy ~ HIS uo} yeroto amp seq pte Tay SHEN TOO Uado om pom st () (5) OHM, ‘wuoashks om JOU © (s)H(s)o +1 (Sa =(S)a sap OHM96a- Ou= a aur (6).9(6)a = (9.9 20018 nq OHOD- OX= (9a Ou 80 oa "or 509 9] PISO “pakeaap sey yuoIstEN uw 900 andino pare mur ayp waansioq, RP ap St YoryAs ‘sorta ayeIs-‘peaIs af Jo Sua} ur pasnseet Wayo st WoiSKS Jonuoo Jo soueuLTOJsad ayes -Apeals ayy, Indino ou pure ‘puewrap ain 40 “Indu amp weaMIOG OHTA ‘un 22{UHTUTUL OFS} WIoYSAS JonUOD Aue Jo aanaafgo Arewd =x, aq wantd st peudys sours ou, YOUMTALVIS AAVSIS(9H GID + 1 “ 1» DIF OTT + + Mopewrry Vy 2rhwey (SH [575 47 way © (7 (698679 #1 G99 = MD (ny C2 = (579 [1994679 -7yT anye (77-599 = (97 peal ag om (599 “4x ‘sarmep Wy map 02 pre Cy we bag sy cum ays bron epun(@+sys M_ Osis agg oumC,. 5. The non-homogeneous second order differential equation of the form mj-+ay+hy=F 6. Determine the damping factor ¢, the natural frequency «,, and the frequency of damped oscillation , of the system shown in figure ¢p), where J=50 kem?, C=500 rads and K==5 kNmn/rad. Golution: o, =10 rad.st, ¢=0.5, «, =8.66 rads!) MMM251/1 “10/99 TR. Bick Departmental Ref, | eva Date LecturerDunes ~ Ge diene Faden. Tube J © a - . asfafe Brel ne de ieaf. ~ v feCR)t(-B) Fi S -yk + (eb) Payee Ey) Bye - RE = ne (yee)% Fk ley) key) +t (ey) = kewley -cy = TG" kx = Ig thy teyot jeg fee PET Ft th IPH Jun sales {22 Do CUT LPE on opty dbbic the vance (oleh gut conpnanl-) ot lla por conponaat Ce ys aFys en 6 > clin)‘UNIVERSITY OF NEWCASTLE UPON TYNE | DEPARTMENT OF MECHANICAL, MATERIALS & MANUFACTURING ENGINEERING MMM251 MECHANICS II Mod Ref. /Module,Title ~ 2 TUTORIAL - FORCED VIBRATION Sheet No. i. Explain the following terms: © What is meant by forced vibration? What is resonance? What is the significance of critical damping? What is meant by transmissibility? What is meant by shaft whirling speed? 2. Arrotor with moment of inertia 5 kg,m? is mounted on a vertical shaft that has 2 torsional stiffness of ) 4800 Nnv/radian, as shown in fig. 1. The upper end of the shaft is fixed, and a periodic torque 7 = 200 sin 1001 Nm is applied to the rotor. Neglecting friction, calculate the torque transmitted to the fixed support. [Ans, ~19.8Sin /00¢ ] Fig. 2 shows a seismic instrament used to record the vibration of the ground. It consists of a mass | suspended above the ground by two springs, each of which has a stiffness 1/2, and viscous dashpot of coefficient C. The mass M is constrained to move vertically without rotation. A pen P which is rigidly attached to the mass, traces out & graph on a drum which rotates on a vertical shaft that is fixed to the ground, If the ground vibrates sinusoidally at a frequency wradians per second and at consiant amplitude H, find, in terms of M, ,C, @ and Han exprossion for the graph amplitude traced out. Ans, oe Where is the amplitude of mass Y Vn! (@y' ~ 04)! +457 09° 0 And x=H i @2 a) 4ago,0! K=4500Nm/rad Figure 1 Ys rete { 4, Abody with a mass 2.5 kg. is supported on a spring of stiffness 1450 N/m. A viscous damper is i incorporated in the system and it is noted that when the mass is displaced by 60 mm. from the i equilibrium position and released, the amplitude reduces to 1/6 of its initial value after 3 complete oscillations. After how many complete oscillations would the amplitude be reduced to 1/1000 of its | | initial amplitude? After how many seconds would this occur? (Ans. 3.05 seconds] __ 4 MMM2S1/3 " = 10/99 R, Bicker Page lof 2 Departmental Ref Revise Date Lectures i5. Fig. 3 shows a simplified diagram of a system for testing vehicle suspensions. A mass M of 300 kg, Is supported on the suspension system, which consists of two springs, each of stiffness k= 6x10" Nin A damping element, which has a viscous friction coefficient c = 6x10" Nstn”, resists the motion of the | mass which is constrained to move vertically. The base of the suspension rides on a cam whose profile is such that during one cam rotation the suspension base undergoes one period of sinusoidal vertical displacement, with an amplitude of 0.1m, lf the cam rotation speed N (rpm) is increased slowly from zero at what speed will the acceleration of | the mass be maximum? What amplitude does this maximum vibration have? [Ans. 19.95 rad/s, 0,1002m) Figure 4 O.imm CENTRE OF Mass ae osln yu YZ Figure 3 —-E=a A D 6. Arrotor is supported on a shaft as shown in fig. 4, The rotor has been balanced such that its mass eccentricity, ie. the distance between its mass centre and its geometric centre, has been reduced to 0.1 mm. During a test run it is noted that when the speed is increased to 3000 rpm, the amplitude of vibration of the rotoris Imm. In service, the amplitude of vibration must not exceed 0.25mm, Calculate the speed range over which you would expect this amplitude to be exceeded. State any assumptions made. [Ans. 0-2660 rpm] 7. A steel shaft, of negligible mass, carries a rotor of mass 20 kg. at its mid-point. The bearings supporting the shaft may be assumed to exert a negligible bending moment on the shaft, The diameter of the shaft is 25 mm, and the distance between the bearings is 1 m. If the amplitude of vibration of the shaft must not exceed Imm. for speeds less than 850 rpm, calculate the maximum allowable mass eccentricity of the rotor. Over what speed range would the amplitude exceed 1 mm, {Ans. 850-1000 spm] point is given by we 48z1 | ' nb, For a simply supported beam of length / with a toad W at its mid-point, the deflection at the mid- ' i where £ is Young’s modulus and Fis the second moment of area of the shaft. (For steel E = 200x10° N/m?) MMM251/2 19/99 R. Bicker Page 2 of 2 | Departmental Ref Revise Date LecturerCatol A Virating - Tuival ‘orcad Whesbsiar = Regonancee ~ swversilocl TR slap whee (pl - 8 a i A509 4 0. 0vtt {9.28 Neo F500 & yook’s Ste wt = 9I2 su tootDiet! a toll fy —_—_ tm — leew)! = Ret i a aE OE Hea 12 950 Yon | Come Cage : ee Mt Bost Do ete CA sn wt ot x a vest tedte xe ly = bo assng tej + aby 3B = oe Bex yk $y teas) bog = Onli 2 a : Boy 2g tee 2 xy i Lia ty’V= 25 Wot Her) $2 fMawi (We 0") 25 t0m BF Be {Lue = 2) = 24, wi J 4-- Ste Yn Gon wi Ie] re) | ane [El cers ole lv Mo) 4 avi)” = (lot Bo ts” * fink Pt Tue 0 wy «ye o* Zhen 0!) + eg a) ae ot te lime) + Py oe wD 2 Foes) 2 PteFG te - - Ft fosios hel y S| emfsoly oft - Kel - Mutes ore (ke Met)‘UNIVERSITY OF NEWCASTLE UPON TYNE DEPARTMENT OF MECHANICAL, MATERIALS & MANUFACTURING ENGINEERING MMM251 MECHANICS t Med.Reé, __|Mod-Title I 3 TUTORIAL 3 - Laplace Transforms Soe Saeet No 1, Find the Laplace transform of the following function _f() 4 where A and care constants. (ans, —— } sta || 2 Find the Laplace transform of the following ramp function (= 0 for t 0 =At for120 A ; where is a constant. {ans “5 } s 3. Find the inverse Laplace transformation of the transfer function shown in fig.1, when a step input A X(5) =~ is applied and initial conditions are zero.{ans. Y¢) = A(I-# yy | i = [es | “ | | = | Figure 1 4. Find the inverse Laplace transform of the transfer fisnetion shown in fig. 2, when the input R(s) = 1 (a unit impulse) is applied. Assume all initial conditions are equal 10 zero, Sketch the resulting time | response, {ans. Yl) = 2e“- Je} | Rs) +3) co (s+ Ds+2) Figure 2 i 5. Find the inverse Laplace transform of the function (s) s(s2 + 24544) Note that F/s) has two complex conjugate poles. {ans. F()=/-1.25e""sin(1.61+0.93) } — i MMM251/3 . ~ | 10/99 R. Bicker Page 1 of 2 | Departmental Ref. Revise Date Lecturer6. Find the Laplace transforms of the following differential equations: “ a) The Homogeneous differential equation Y(t) + y(i)=0 where y(0) =a, and j(0) = B b) Forced equation with zero initial conditions jj + Spt) + 4y() = u(t) where u(t) = 2 ©} Forced differential equation solution (i) + Sp() + 4y(t) = 1, where y(O)=a, (0) = B. Use the properties of Laplace transforms of the derivative of a signal fd) as follows: ey} = L{i} =-£(0) + sF(s), and = L{F} = sF() - si(0)- £) 7. Use the method of Laplace transforms to determine the output responses yi) for the cases given below. Produce sketches of the responses. 2) Auunit step input x() is applied at time 1-0 to the system shown in Fig. Ta ) gc x(8) Figure.7a b) A. unit impulse is applied to x/2) at time t=0 to the system shown in Fig. 7b. { o) 1 Lye 842, Figure 7b i Assume that initial conditions are zero in both cases. Ay sete 5 tars - omar) “Seat yd" Be betes ~ be tee 5B Cle Cena teat) WEA th i heh i i Ws) « BC l-er* i ey = KC L MMM251/3 10/99 R. Bicker Page 2 of 2 Departmental Ref. Revise Date Lecturer| Dla iya Aicefyawes . 22/02 4 gp =k) A TTS Soe a — A - Sag Fr oe asst eo sat 8B Le frata5) xts> = ys 4 sted puthely — siloe > Ha pole a8, a SCS 424s te) Pah ste oe at AUST TMS Se os 1e-375t) ) © == (0.8 te expul form sey (oben be! te ioe ta8)) ruleur tee) etter) =O ti snd res ws G-L m0 Les (owe ocd tb sie Cy cyte) des (0-6 ~b6C) sine coy X > Sm de su (rdt +07) oe bo pase frag gittrt UNIVERSITY OF NEWCASTLE UPON TYNE 1, DEPARTMENT OF MECHANICAL, MATERIALS & MANUFACTURING ENGINEERING = a MECHANICS It X 4 TUTORIAL - First Order Control Systems se 1. A tank with a cross-sectional area A contains a liquid whose level is controlled automatically by a valve. The valve control system produces a volumetric flow rate into the tank that is proportional to the difference between the desired liquid level fe and the actual level fs such that Qu = Kt ( ha ~ fo ) ns". Tt.can assumed that liquid flows out of the tank at 2 rate proportional to the level of liquid in the tank ha, as follows Que = Ko he i) Draw the schematic diagram and corresponding block diagram for the system. il) __ Show that the time constant for the system is given by t = A/(Ki-+K2), and explain its significance. Determine the response of the system to a step change in the desired level from 0 to 10m, dhen A= 20m®, Ki = 4 mis, and Ke = 1 m’/s. Sketch the response. (ans. 7=45; as (>, hy>8) ) Z, A liquid of density p flows into a cylindrical tank which has a cross-sectional area A, as shown in Figure 2. The mass flow rates into and out of the tank are q and qo respectively. The inflow rate is controlied by means of a valve. The outflow rate depends upon the height 4 of the liquid surface, and for small variations in height this relationship may be approximated to ge = K-h. I i) Write down the system equation relating h to qi, and draw the block diagram, il) The following parameters apply to the system: p = 1000 kg.m*, A = 0.5m’, K = 10 ky the system is initially in the steady state, with qi = 0, and the vaive is suddenly opened so that gr instantaneously changes to 2.0 kg.s", determine the final height & and the time taken for the level to | change by 90% (ans 115s). i iii) Sketch the time history of A. (ans ¢=S0s;as t-320,h-90.2) i m. MMM251/4 “T1209 R Bicker Page 1 of 2 | Departmental Ref, Revise Date Lectureri) i) iii) iv) 4. ) ii) Figure 3 shows an electrically heated hot water tank in which the water temperature is regulated by a thermostat which switches the power off at a pre-set temperature of 80°C. ‘The mass of the water in te tan 1s 100 Kean is spent ealcgntent i 4180 f/kg.°C. The surface area of the heating element (in contact with the water) is 0.1 m’, and the heat transfer coefficient between the element and the water is 2000 J/m*.s.°C. When the power is switched on the heating element rapidly stabilises at a temperature of 200°C. Assume the water temperature is initially at 20°C. Draw the block diagram of the system. Calculate the system time constant. (ans 2090s) How long will it take for the water to reach 80 °C? (ans 847s) How do you think the water temperature will vary over a long period of time? Draw a sketch of the time history. | renting Jetement ‘Thermostat Figure 3 A first order system which has a time constant of 3 seconds is subjected to a step input 0(t) described by 8(t) t<0 ato Ost=2 GC) t>2 Sketch the response. ‘After how Jong will the response have died away to 0.05? (ans 8.83). MMM251/4 12/99 R Bicker Page 2 of 2 Departmental Ret, Revise Date Lecturer |“I he , él o. lis, 4 et d sl ‘ ks pp tiger eng 1 K the-hs)Soe] Os 1 Bau = Poor = Othe by contact o Hi lhy=ba) Kahn = Ad = SS =o . Ka (inl R. reampians, Enso he ay > every pAihis Kihattahat @ dha ha (Kiakes ap) ie whee Dad hes Seg . K wists te $64 ten ES ha L+45d 1+TD shure Ke & ets A re Kaka (itt) 6. T L L T cathadthe time constant deposesl astime Sroulkot te veocks STo fk hate urboe. (hua subject fem vat shop spat) |. aiichicl conclihioms ove gee (on reptow Di by ‘s! Laplae = re) we he rhy = Ve Yh 210 (askp dicount) - 2 nat Yeas 7 s v rokhes 7» \iiok/A B) [AlYets) +85) cy “Tt VS Caersy TS ee \ Ce) © Sjvat ong om. [so -6 = A+’ St s Ale ie Aat 8s-T hs lox(Z TY bsg noua Bagh nef A wae [pne \ | =e(i-e *) - 4 tteFis = Ae Asa te 4) (St ay 25% be |Te saiseut @le 2, Gy; -F, =P dh Vdt -. Y= Kh aad (Dade) mre tet BUAPP RE) fy ho VK whe. Te ALK % > ier 4%, i+ TD aed y 1 1 he 1 ii T= 0.5 x 1000 — SO See. e To SRikow ao Ql Sines walel conditions ove yp/0 he Vit y= 2 KR VCD $s he 2(p ee) As tem hs on 0 Bre fh = O18 Tne token oie 2 0.2(i-e 7") + = 5 Secvendk hE e 90%} OL 1 \ —o ao : 50 ne 4 ative «| the. Wher Ae mors pevew io hot cines oapdly fans 20% te Za". Heat Jo Wen Timaperealina® 20 Moe Jose. _ eocPonsncb oles frown 28% <7 te BOC wh whisk, Hume eal A.W Rsthonwsatah WR tro - bt A odtiw twine, T. (_ 28s (eC Sipe ue 86 OQ + a4 & 8u Ola GO Cs £ tena Quy eaky tana pevetare. ee Foe a Finck eeder su cana the tio Mcp /H4 = !00.480,— 2 Sy sting akon GaGa) 2 = 65. das Re crace anitel conditions ove £O most ope deters tal Deere. d | LG = sFG) -fO) LL Ee T= sou0- 20 Subesititing Sunde 5x4 1B 2g veluw G2 So) F as Bs Zoe de ada dow Ce irempuing O@.+20t = O51+Ts) Frees step inp ot B.D= 200 sahast tinting Ou 2 78% 20% _ 200 + 20% sCi+Ts Cl+ts fee AS) 2 Newel to oft tons f Colionedise, 200 —250/A sCi+Ts) sor 200. oof ACUTS) +o) peeking cae{yel fea — sliets Ou ATE Ast h--7 ~Thus ba 2 200[+ = vee 180 M4TS/ +Ts (3S Wed ere Te Bus = 2001900. whew Ow=%o + = 84] see esi MSS ’ :@i,7@ + iu dapirnseh or on putse Torn. ~The. reopens: Or wee attarr the une A efttie Z seconds at ahich time te input O: goin te gre Facing Ga back a : QW. Y Stra ariliel romditiwu ot b=0 ove weve. thus Squotan Qin form Oo _ 1 a Gest a [ t Qu 1+st g s wl-stee O21 (4 Vo ortind ” i s \i+st) 5 sme ee (yvewse tremid afin ually ‘ W my OE) =loe ele 21-0513 &@)= 0.437 e Consrdev Dow Oy decays Prim 0.497 1 O [nel conditions SO Oi a, = Tid Using dillerortiol theses amd Lift tune ooiu® Py +2 Seconule J Oo'_ § On =F te) 2sOn- 0-487 “ae | -8-& = T[s 9 - 0.42) 2 Op + 0.487T 28, (14Ts) [8.2 dt 40.40t Af Q. 20 daw L+Ts So = 0.467 [nvenctampelmne Go = 0.487 @ “Ut S ' OOS). ble = 2.27 2 2.2213 = 683 sees . eT eo be RS eeUNIVERSITY OF NEWCASTLE UPON TYNE DEPARTMENT OF MECHANICAL, MATERIALS & MANUFACTURING ENGINEERING MMM251 MECHANICS I |Mod.Ref. Mod, Title 6 ‘TUTORIAL - Control systems terminology ae sheet No, The following questions are aimed at testing your knowledge of the terminology used in control system theory, most of which has been covered during lectures, tutorials and in the laboratory. Students are advised that I will be examining some of these topics as part of examination questions! 1. Baplain the significance ofthe fellowing tems and performance characteristics used inthe time domain analysis of control systems: ‘Time constant * Damping ratio Input or forcing function © Transient response of a first order system ‘© Transient response of a second order system 2. Define the following terms, and explain their significance in the frequency response analysis of control systems: i Magnitude and Phase 4 Decibel notation \ Bode diagrams Polar plots Bandwidth Frequency response of 1" and 2" order systems, 3, Provide definitions for, and explain the significance of, the following terms in relation to the accuracy and performance of feedback contral systems | Open lop contol system Closed loop or feedback control Velocity feedback Steady state error System type i. Type 0, | and 2 systems Proportional, Integral and Derivative action ‘Three term controllers NB, Solutions are not available, and you strongly are recommended to make use of relevant text books on Control Engineering (copies of these texts are available in the Robinson Library). For exemple: Dorf Modern Control Systems Ogata Modern Control Engineering | Raven Automatic Control Engineering i Richards Control Engineerin; i Schwarzenbach & Gill System Modelling & Control \ MMM2S1/6 ! R Bicker Page iof 1 Lecturer Departinental Ref,tnt Jes ath 7 468) 3G Bae row efi GUC) ove. us) Li alien 22 Gel SI— Banigrtt Weetea by a a)UNI ss 'Y OF NEWCASTLE UPON TYNE DEPARTMENT OF MECHANICAL, MATERIALS & MANUFACTURING ENGINEERING MMM251 SCHANICS It x £. IMoarer._ [Mod Title AS tonal : Servo-systems Sheet No. 1. Figure 1 shows a simple angular position control system. Potentiometers fitted to the input and output shafts and are arranged to give voltage signals Vi and Vo of 12 volis/rad. Vi and Yo are added ina summing amplifier Xe, gain 1.5 Amps/volt. The current { drives an electric motor with 2 torque constant of 2 Nm/Amp. The motor drives a shaft whose inertia is 1 Kg.mm? against viscous friction with a coefficient of 9 Nm/rad.s*, Draw the system block diagram, and determine the system natural frequency and damping coefficient. (ans a»=6 rads/s,¢=0.75) a ae a Vo Tot C (eu) TWh Surfing 7 “ale amplifier tLe ag ty ke + ch opr Figure 1 7 2. Figure 2 shows a simple pen recorder where the position x of the pen tracks an input voltage Vi. A potentiometer is arranged to provide K, volts/m displacement of x, and the error amplifier has a fain of K yolis/vot. The motor has a torque constant &« Nm/vol, inertia Jn Kg, and friction Co im/rad.s", The motor drives a step-up gearbox of ratio N, the output of which drives pulley wheels of radius r which have an inertia 4/2. i) Write down the system equations and draw the block diagram. i) Ifr=2.5 cm, N = 5, Ka = 0.1, J: = 0.0005, Im = 0.005, Cu = 0.05 and Kp = 1.0, What value of amplifier gain K would make the system critically damped? (K=0.46) MMM25 12/99 R. Bicker Page | of Departmental Ref, Revise Date ‘Lecturer3) Figure 3(a) shows the arrangement for positioning the slide of an automatic machine tool, of mass M. The slide displacement x is produced by the rotation of a rigid leadserew, via a frictionless nut, which has a pitch p. The leadscrew is driven by an electric motor which develops a torque T= Kri, where / is the motor current produced by a power amplifier having 2 gain of Kx Amps/volt. The total inertia of the motor and leadscrew is 7 Kg.m?. Figure 3(b) shows the block diagram of the whole system, in which the dynamies of the motor/leadserew/slide assembly are represented by the transfer function Gifs) = x/i. (Show, from Figure 3(b), that the closed loop transfer function is given by c= KiK2K.P i * + KK S+KIKIK.P ao” * (i By considering the relationship between torque and axial thrust at the nut, show that =—KrP* GO- RPDS 4g HRT] « Saas Nut Figure 3a aE eh laxaty ‘inear pokentiameter tee /tce Brel Ky Ky is ‘neat ~ Vobrage amp Figure 3b mar 6 —! ) Lat MMM251/4 12/99 R. Bicker Page 2 of 2 Departmental Ref. Revise Date LecturerTene ono Ssyslones_epecion Bree pat ege ha ZT int ED 2 Cath: Ing gallon / Palin ont * ohne K= Kp By km AL Hooded sled pao teon ited apps | Tbpt Co t KO = Ko, oe <2 on = ky Shorg # 1kK OTS - ee cectesdly hep then - “> 2k Te 231m © On JZ hn Je lon 5.341% pos 4 veo x 5% LSHSIR = O54 195 J: woe 10.69 f% + 2.857 2m > Cuff. Vig 2 20Vike Gisy2 @ Sebo Vii Ke Gils)-Kskx @i) 8 * 8 WB ks wads) OU tke Gls!) Sub he 8 fim bi) ed p dom Gi) _ Gis t Keke) vik Oh keke 7 EC er Pkk. ~ x(a -keks + Puy) “pte 4 nl ae — lend Setsu alps oy \ / ee Wo Sid Woant fbb Ke redoces (or A tioky 56)UNIVERSITY OF NEWCASTLE UPON TYNE Department of Mechanical, Materials & Manufacturing Engineering, MECHANICS Il - Dynamics & Control | | Mod, Title % ‘Sheet No. 7 Tutorial - Steady State Errors 1. Aunity gain feedback control system, shown in fig 1, has a forward transfer function G(s), reference input R(s) and output C/s).. R(s) ~ E(s) ce L— ce) a Figure }. Use the final value theorem to show that the steady state error for the system is given by | 2, If G(s) has the general form as shown below, show that the steady state error, in terms of the gain X, j has the values given in the table below for the following inputs versus system type (integer value P} G(s )= K Sus" + In por tee bays tl SP bys” +b, ps bbs] | ) Typenumber (P) | 0 i 2 Input: Cc Cs) Step input 1 Vs 1+K) 0 0 Ramp input = ¢ Us? oo UK 0 Accel. input? le 2 oo UK 3. Calculate the steady state error for the unity gain systems that have the following forward transfer functions, when subject to both unit-step and unit-ramp inputs. 10 a) G(s)= ») G(s)= s(s+2)(s? +5s+10) 9° +55? + 55410 MMM251 Departmental Ref 3/00 R. Bicker ‘TY Page 1 of 2 ss J lA& ; Gls G(s)= K; a) Show that the steady state error is given ny - 2) Als)= 1+G, (s)G, (s) b) Ifa unit ramp input is applied at time #0, determine the steady state error (Assume initial conditions are zero) — Als) a Gpfs) (see) + Figure 2 5. Fig. 3 shows a unity gain feedback system with input x (5) and output y (s). If unit step input is applied to the system, use the Final Value Theorem to find the steady state error (Assume that the initial conditions are zero) Explain how the performance of the system can be modified so that the steady state error is reduce and the output response improved, els) + Figure 3 _h a A block diagram of a feedback control system is shown in fig, 4. The system has a reference input, x(3) and is also subject to an external disturbance in the form of a(s). Ge(s) represents the systen._) controller, Gp(s) the system dynamics, and H(s) the feedback transfer function. Use the Final Value ‘Theorem to find the steady state error due to a step disturbance d(s) 100 Gpl3) = mpc gap Geld 5. and HO) ~ 1 Assume tat the reference input 2) as) x(s) . (s) s s | Gals) Lt G,fs) ye , | Ho) |e) Figure 4 MMM251 3/00 R Bicker Page 2 of 2 : Deparietal Ret. _| Revise Date Lecter G.“The block diagram of @ speed coniral system is shown in fig 2. The proportional plus integral (Pl) controller G(s) and the plant dynamics Gr(s) have transfer functions of the form, respectively. Ka Sipe tered Es) > 868) - cos) EG) Gis) = cesh ca fm © | Cor FG) GG) FG) = 2(5) - Els dls) RE) F ~ Els) - £65) is) Ros) > 605) C1 + Gis) vy Els) 2. fi Tames ia otf gus) Nam wtfion — boatih leap bevepe K lust (eel) GUsjees) + Sn 54s FY alee Theor Ppa tH laplon “Cony a pay ps % foes soe pulley fog tle GU) HES) sve. v7 fe ba 7 é an 52) alan PE) a Feo sath fr > sFls) - fiw) etal ow. [Peal at = 1, 5 Pts) - food SP ee) des Ho A) - flo se $6) + Bo 3)(ee2) (serSere) S155 so 2stH IS raw sha tgtrdos hy ‘ a + For wit famp Ris)? OF we vm oS bs + 90 TF GREE wy 255 sh Sltk ITA eave 4a 2g) 1208 tye S87 Flay Fs te FO Sr 28° 205 220 Fett SFTP FOr IOAP nish KO =A Rup cpt pi —_— 7) Go) =e — = 78, yphay ost 20) 3, 7 Goaleosse'o) 5 GP r Ws 20S+ 2b fevndtsey Mom's = at sx 6 seo Ee EE) gs = Cece 544798420 +oS =O Seo SHADSEE ID SHEIDSH 10 vifanyg My- &r Css = AO Sig DS 4 eit ee OO | eal SEO 54275947 0S420$ 4 10 5(534 7S LoS 20) Css 2 |Z ne MMM 25 | | 2/00 | R, Bicker Page Zof (Le Departmental Ref___| Revise Daié | Lecturer iS5*+ 5S 419 : 50 Seca 554M TBS seb SHo = fi;- Sle ES Ge Ge= Ro EDs 2i- EGcke LEO (4G Ge) = Ri Ebina cg Re i) =A 2 Li Gs+e) IHR YC) Tbe PKK HE = Rj Gs+c)s 2; . Tests Cs + Gils + ak Gs ah Gere) ty Tae “ OS Gre wel Se Shee Ces Hille, Bsp = Efe MMM7%S } 3 ]o0 R. Bicker Pages of (| Deponinentl Ref __| Revise Date {cturer iehdS Te 2 SYS 4 a Ths. sleedey stele ecrey fe wn toge, ° syn, cor only be lw tad by tnebiny ihe Tyee ie adding me wet ag otey ecthas lecfove ow oftew &(s) Io. / ae 6 = x~6)-y4O Hig) = 6) -YOD SHH Weds | oles fet) bc + syd p= ys) p- ES) = 0) fet & be 151+ GeGe| = x8) - dey ug G oP a) = xO -dOGe. 9 -dOR Soe 1+G.G¢ t+ 500 St Host = dts) \oo 1, Ogg = Bie $ DY LR: Ose oo ner) Setospboe Za.osaboo S=F105 +600 = 109 _ | Gro * Le MMM25 3Ja5 R Bicker Peeelyot Lp Desarmental Ref _| | Revise Die LeawetUNIVERSIT (OF NEWCASTLE UPON TYNE, DEPARTMENT OF MECHANICAL, MATERIALS & MANUFACTURING ENGINEERING | MMMQ51 MECHANICS t Modi. Ref, Mod Tile LABORATORY - Introduction to | Shoet No Simulation and Modelling using SIMULINK 1 INTRODUCTION |SIMULINK is a software visualisation program for simulating dynamic systems, and is an extension of MATLAB (MATrix LABoratory). SIMULINK facilitates model definition and analysis using block diagrams, within a graphical windows environment, and is an interactive program that is used to solve | practical engineering and mathematical problems using numerical matrix methods commonly found in automatic control theory, statistics and digital signal processing (time-series analysis). Application-specific tool-boxes are also available to solve particular types of problems, ie. control systems design, dynamic systems, system identification, neural networks, and others. [To login on the ENGINE cluster enter login user i.d., i.e. your own login name in lower case letters, followed by your ‘unique’ password. To login on the TREE cluster enter user id. and password, and once {you have logged in use the mouse pointer to select the Windows NT Start button which is located at the bottom left hand comer of the screen The MATLAB program group is located in Programs under Scientific Applications as MATLAB 4.2], 2, Starting MATLAB and SIMULINK, Double click on the MATLAB icon, and the MATLAB window will open with a double-chevron [>>] the command chdir f: which will set the default directory to your allocated file server, ic. which your personal files reside. (You must do this every time you use MATLAB - so it can ind your files.) 2.1 Tutorial Exercise To illustrate the use of SIMULINK functions/commands, it is best to practice using simple examples. a. Once you are iti Matlab, type simulink after the >> prompt. b. Make the simulink window active and choose File and New from the pull-down menu to create a new Simulink working window. You will find it convenient to re-size and move the 3 windows (Matlab, Simulink Library, and Simulink working windows) to appropriate locations, (It is suggested that the Simulink working window occupies half of the monitor screen to allow sufficient space for developing| your block diagram) c. Each library window can be opened by ‘double clicking’ the respective icon. For example, to obtain a ‘sine-wave' block, you need to double click on the Sourees library icon, 4. To generate the block diagram proceed as follows: i, Open the Sources Library window, then drag and move the Sine-wave block into the Simulink working window. Notice that the original blocks remain in the library window, This process merely copies the blocks to your Simulink working window. Use Alt+F4 to close the Sources Library window after use. ii, Open the Sinks Library window and copy the Graph block to the Simulink window, using the method described above. iii, Similarly, open the Linear Library window and copy the Integrator, and Derivative blocks into the working window MMM25/LAB | 1099 R. Bicker Pagel of 5 Departmental Ref. Revise Date Lecturer) v. Finally open the Connections Library window, and copy the MUX block inzo your working, model Nb: Close each library window after copying the required block(s) to the Simulink working window. vi, Drag and move the blocks in the Simulink working window to appropriate locations, as shown in Figure la. vi, Now connect the blocks together. Do this by positioning the mouse pointer on the small triangle located on the left side of the sine-wave block and then click and hold down the left mouse button then drag the tail’ across to the open triangle located on the left side of the derivative block and release the button - the line should remain interconnecting the two blocks. Repeat this process to connect the right side of the derivative block to the left side of the graph block to complete the diagram, «, It is now necessary to pre-set some control parameters that regulate how the model runs on the computer. From the pull-down menu select Simulation and Parameters - this function allows you to select different integration algorithms and to choose simulation parameters, such as ‘step~ ‘start-time’ and ‘stop-time’. Change Max step-size to 0.1, Min step-size to 0.00 and Stop- 20 seconds, then hit the ‘return’ key. £ At this stage you have completed a simple block diagram, similar to that shown in Fig la. The next logical thing to do is to save your work. Using the pull-down menu, save file as ‘d_by_dt.m’ - the m extension denotes a Matlab file. (Did you remember to enter the command ehdir f: in the MATLAB window?) p{auci| >| Dyieal | uy Sine Wave Derivative Graph Sine Wiswe Derivative © Mux. ‘i htt | a Integrator Figure la Figure tb 2.2, Running the model a, In the Simulink working window, select Simulation from the pull down menu and click on Start (you can use the short-cut key combination Ctrl¥T), which will start the simulation. bb, ‘The graph window should automatically open and proceed to draw the output response. ¢. Ifa printer is attached you can print the output response, by pulling-down File and selecting Print. Alternatively you can Save the output toa file for later, 23. Changing the model a. Now'pick' the link between the derivative and graph blocks and use Edit to Cut the link, b. ‘Double-click’ on the Mux block, and change it two inputs. ©. Connect the multiplexer Mux output to the Graph block input. 4, Add another connection to the Sine-wave output and connect this to the top Mux input e, Now connect the derivative block output to the second Mux input. (As shown in Fig 1.b) £ Re-run the model, and note that the graph now displays both the input and output, g. Double-click on the ‘sine-wave’ block and change the frequency to 2 (rad/sec). Restart the model, and comment on the result. Why does the amplitude change? (Hint: evaluate the derivative of Sin(ot)). h, Now swap the Integrator block for the Derivative block, and rerun the simulation, Is the output as you expect - ie. evaluate the integral Sin(at), and comment on the response MMM251/LAB 10/99 R Bicker Page2 of 5 Departmental Ref. Revise Date Lecturer3. Simulation of a Spring-Mass System Figure 2 illustrates a mass M (kg) which is attached to ground via a spring of stiffness K (N/m) and a dashpot with viscous damping coefficient C (Nim.s"). A force F is applied to the spring which causes it to move in the direction x. Draw the free-body diagram for the system, and write down the equilibrium equation 3] L_, Figure 2 INERTIA CURRENT TORSIONAL LY BRAKE SPRING eur Now try and produce a block diagram, using SIMULINK, to simulate the system, (Hint: Put your equation in the form of Newton's Second Law of Motion, ie. F = ma, where F is the sum of all external forces) Substitute the =" sign in the equation for a 3-input summing junction, and use only integrator functions (not derivative functions). Use the ‘gain’ function in the Linear library, to model the constants system Make alt parameters initially unity (i.e. M=C= K = 1), and nun the simulation by applying a force F equal to a unit-step. (Remember to set the simulation ‘run-time’ to 20 seconds, and ‘max-step’ to 0.1). Use the ‘graph’ sink to show the time history result, setting the y axis to a minimum of 0 and a maximum of 2 How does the time-history changes when the damping term C is reduced to 0.5. Investigate what happens when the magnitudes of the M and K terms are also reduced? Explain the significance of these changes in the context of the system! Replace the ‘unit-step' input with a'Sine-wave' input, and from the connections library pick the ‘multiplexor' function, Connect the multiplexor output to the graph input, and connect one input of the qhultiplexor to the sine function output and the other multiptexor input to the system output. Re-run the , simulation, and comment on the result. What do you deduce from this? Figure 3 illustrates another configuration of @ spring-mass system, in this case a torsional spring-inertia system, where K is the torsional spring stiffness (Nav/rad), C is the viscous damping coefficient (Nmv/rad. ), and J is the disc inertia (kg.m?). Draw the free-body diagram, and determine the equilibrium equation for the system. This time consider the input as the angular rotation & , and the output as the angular displacement 8,.. Deduce the overall equation in terms of 8, /8. Draw a block diagram for the system, with @ as the input and @, as the output, and then model the system | using SIMULINK. On this occasion, instead of simply giving each ‘gain’ function a numeric value, write in | the parameter value as a variable, ie, let the dashpot ‘gain’ be C ete, Before running the simulation it is necessary to write, and run what is called an M-file, since the values of C, Kand J have not been assigned numerical values. Make the Matlab command window ‘active’, and then select File —» New —> MC-file to open the ‘Notepad window’, Enter the following: K=1 C=1 J=1 (putting each term on a new line). Then save the file on drive A, using File ~> Save As, with the filename variable.m, Exit the notepad window using File ~» eX MMM25/LAB. 10/99 R Bicker Page 3 of S$ Departinental Ref, Revise Date Lecturer‘Run’ the M-file, using File > Run —> ‘filename’. Now return to ‘Simulink’ by pulling-down Window then selecting your simulink model You can then simply change parameter values by returning to the Matlab window and redefining the value - try changing the coefficients! Using a sine function as the input, vary the frequency over the range 0.5 to 5 radians/second. Estimate from the graph output the amplitude ratio (output amplitude/input amplitude) and phase shift (in degrees) as a function of frequency, and plot graph of these results 4. A Second Order Servo-Svstem Figure 4 illustrates a simple servo-position mechanism that is able to ‘track’ the angular rotation of an input potentiometer, The rotation of which producés a voltage proportional to its position, Kp of 5 voltsfradian, An identical potentiometer is attached to the output shaft. The outputs from both potentiometers are ‘summed’ and then amplified by a voltage amplifier, which has a gain K,, of 25 volts/volt. A tachogeneratoris attached direcily to the motor shaft, which produces a voltage proportional to the shaft | speed, K,, volts/tadian s", This output is summed with the ‘error voltage’, and then fed into a power amplifier, X; with a gain of 7.27 amperes/volt. The power amplifier ‘drives’ a de servo-motor which has a }orque constant Kr of 0.017 Navampere, The combined inertia J and viscous fiction coefficient C for the " motor-gearbox system are 0.4 kg.m’ and 0.5 Nm/radian.s", respectively. Figure 4 sumer Power Draw the free-body-diagram for the system, and derive the system equation. How do they compare those produced in the previous section? Determine the overall relationship 8/6) Now produce u savde! uf the servo-system using SIMULINK, and verify that the response to a step-input is similar to that obtained for a simple spring-mass system, By varying the tachometer gain from 0.0 up to some maximum, it is possible to reduce the amount of overshoot to zero. Plot a graph of ‘overshoot-ratio” versus tachometer gain K;, What can you deduce from this result - and explain its significance. (Overshoot ratio is defined as the height of the first peak divided by the step size) Reset K, to zero, and then replace the step-input function with a sine-wave input, and attempt to obtain a time history plot of both input and output as a function of time. How does the phase angle and amplitude ratio between input and output vary as the frequency of the sine-wave increases. 5. Assessment and Submission An additional assignment sheet will be circulated at the beginning of the 3" Laboratory session, The sheet will outline the requirements for the submission of the formal laboratory report. A I.44Mbyte floppy dise will be provided on which students are required to place copies of relevant Simulink files and figures. MMM251/LAB 10/99 R. Bicker Paged of 5 Departmental Ref. Revise Date Lecturer| You can then simply change parameter values by returning to the Matlab window and redefining the value - ~ motor-gearbox system are 0.4 kg. tun’ th selecting your simulink model. try changing the coefficients! Using a sine function as the input, vary the frequency over the range 0.5 to 5 radians/second, Estimate from the graph output the amplitude ratio (output amplitude/input amplitude) and phase shift (in degrees) as a function of frequency, and plot a graph of these results. 4, A Second Order Servo-System Figure 4 illustrates a simple servo-position mechanism that is able to ‘track’ the angular rotation of an input potentiometer. The rotation of which producés a voltage proportional to its position, K, of 5 volts/radian, ‘An identical potentiometer is attached to the output shaft. The outputs from both potentiometers are ‘summed’ and then amplified by a voltage amplifier, which has a gain Ky, of 25 volis/volt. A tachogenerator is attached directly to the motor shaft, which produces a voltage proportional to the shaft speed, K,, volts/radian.s", This output is summed with the ‘error voltage’ , and then fed into a power amplifier, Ky with a gain of 7.27 amperes/volt. The power amplifier ‘drives’ a dc servo-motor which has 2 yorque constant Kr of 0.017 Navampere. The combined inertia J and viscous friction coefficient C for the and 0.5 Navradian.s", respectively. 4, tac spur, Por . >< f | Figure 4 SUMMER Foust Mh Draw the free-body-diagram for the system, and derive the system equation, How do they compare with those produced in the previous section? Determine the overail relationship 9, /6 Now produce a nude! of the servo-system using SIMULINX, and verify that the cespouse to a step-inpui is similar to that obtained for a simple spring-mass system. By varying the tachometer gain from 0,0 up to some maximum, it is possible to reduce the amount of overshoot to zero. Plot a graph of ‘overshoot-ratio’ versus tachometer gain K, What can you deduce from this result - and explain its significance. (Overshoot ratio is defined as the height of the first peak divided by the step size) Reset K; to zero, and then replace the step-input Function with a sine-wave input, and attempt to obtain a time history plot of both input and output as a function of time, How does the phase angle and amplitude ratio between input and output vary as the frequency of the sine-wave increases. 5. Assessment and Submission An additional assignment sheet will be circulated at the beginning of the 3 Laboratory session. The sheet will outline the requirements for the submission of the formal laboratory report. A 1.44Mbyte floppy dise will be provided on which students are required to place copies of relevant Simulink files and figures MMM25/LAB 10/99 R Bicker Paged of 5 Departmental Ref, Revise Date Lecturers a GG) * FR) > ATE tw Trews chee Glin) 4 ) | Ret ee it “f Rell etsy, bP jr of cotta ~P _ gt tas” CE) mute (Km) «OB ws’ XE8) © 6s X03) 7 XS) = FEY.DEPARTMENT OF MECHANICAL, MATERIALS & MANUFACTURING ENGINEERING Sam CP Wang (003444845) - Stage 2, BEng(Hons) Universcy of Lecturer : Prof J. S. Burdess Neweastle upon Tyne Simulink Laboratory Report Conplted on 18 Feb OF Introduction: The aim of the project is ro create a model for a 15cm length electro-magnerically directed laser beam target system. Control system of such has response characteristics chat are peculiar to their 2" moment of inertial and restoring torque when an excitation force is applied. “To analyse the system, we draw on the torsion form of Newton's equation of motion (T= 8) and expand the equation with its corresponding interacting forces. After setting up the equation of ‘motion, a control engineering notation block diagram of the system is constructed. his block diagram is entered into simulink system modeling file. The appropriate magnitude of torsion elements and damping resiscance are defined. ‘Thus we have a simulink model of the system which we can vary the various torsion forces and analyse the response characteristics ofthe system. Digyans of eeeromagnetcaly controle laser ator Tiida =e 6 Mathematical model List of Torsion forces Rovating torque Fa = 0.03F Nm Fluid Resistance (T,) =c6 +20 x10"6 Nmvrd Torsion Stiffvess (T= KO» 0.75x10" O Nminad Inertia = 1.0510" kgm? Equation of motion zT =56 2Fa = Tye = Taetnte — = S8 003F - 66 = ké =16 (0.03 F) -(2.0 x10" 8 -.75x10"@) = Jé ‘mass.accel + fluid damping + tosion resistance = external ex J@ + cB 4 ko = 003 F email: CP.Wang@nchaciseControl engineering block diagram F > | 2a tirror angle Bo cleeromagnetie force F) Closed loop transfer function G (3) k a > hee ow FWP sestk s+ 20s + an Undamped natural frequency ofthe stem: rc Ioan o, = fE . }OTO” 190.47 rads . m Ix Period = 2n/0, = 0.05135 & = cl/2a, = 0.0816. systems underdamped ‘The value of @, is the reference paramerer for simulinke sofware to determine the step size for interval time calculation when plotting graph. We note from above diagram that 8, is proportional to the magnitude of the clectro magnetically induced force F. Therefore by varying che induced force, we could control the desired angle of the mirror. Simulink diagram opps Input fie}; —pfie Trenia Integra Integra Graph fui ‘The above simulation is obcained by setting the following variables: Step inpur (final value) = 5.0 10° Parameters Mirror 0.03 Stop time Inertia Maxt0") Min sep size Plaid = 2x10” Max step size = 0.00513, Torsion (2) ~ 15x10 (derived by taking periodic time / 10)hong Cfam Peg oo stnnies \ S Pouasuee 6 Cobol ~ fe scudgpneted = ae [xfidfoo_ Llussihrck sake i Te pmeny _ Lolussihroton. 4 wiblatten frol®. to ws tas hoo 33.7 1) Forced vibpateer T & Bis 2 so @ pad /s atts fr cae ethong Cfam Peg oo stnnies \ S Pouasuee 6 Cobol ~ fe scudgpneted = ae [xfidfoo_ Llussihrck sake i Te pmeny _ Lolussihroton. 4 wiblatten frol®. to ws tas hoo 33.7 1) Forced vibpateer T & Bis 2 so @ pad /s atts fr cae eteat - L _ £069 of encity otse Bed. diopters ne eleatly xe _ i visultal slave oh pink wth ee baw opens the __esirenf frUNIVERSITY OF NEWCASTLE UPON TYNE DEPARTMENT OF MECHANICAL, MATERIALS & MANUFACTURING ENGINEERING MMM25 1 pst Ref: DYNAMICS & CONTROL it 1 Shect Ref: Assessment | ~ Vibration and Control As part of the assessment for this module students are required to aubmit thelr solutions to the following questions. The assignment contributes to the 30% in-course assessment for the module, The questions have been taken from previous examination papers and each has equal weighting. Students ore advised that this should be an individual piece of work (evidence of copying will result in the loss of marks) Please ensure that all sheets are stapled together, and your name appears cleerly on the front sheet. Solutions should be handed in to the Burstall Room no later than 4.00pm, Friday 14! February 2001, and will be returned within 4 weeks. 1. An automatic washing machine is shown in fig. 1. The drum housing is mounted horizontally and is suspended on 4 springs, each with a stiffness of 1000 N/m, The drum has a diameter of 500 mm and Fotates at a speed of 800 rpm when spin drying clothes. Guides ensure that the drum assembly can only move vertically. When the drum is spinning the distribution of the clothes cause an out of balance force that is equivalent to 1 kg at the drum periphery. The drum assembly has a mass of 25 kg, which includes two concrete blocks. Calculate the drum speed that coincides with the natural frequency of vibretion of the drum, and determine the vertical amplitude of vibration resulting from the rotating out of balance force. (Assume that damping is negligible), Briefly explain the purpose of the concrete blacks and how the amplitude of vibration might be reduced? DRUM HOUSING GUIDE. CONCRETE BLOCK DRUM MOTOR Figure 1 MMM251 12/00 R. Bicker Page 1 of 2 Departmental Ref, Revise Date Lecturer2. A radio telescope and its tracking control system are illustrated in fig. 2. The telescope dish is supported on a platform that is rotated by a large ring gear which meshes with a smail pinion gear mounted on the shaft of a BC servo-motor. Closed-loop position control is achieved by using a multi- tura potentiometer attached to the motor shaft, the output of which is compared with the desired angular position of the telescope. The computed error is then fed into a simple proportional controller that is connected to a power amplifier. With reference to the diagram, the following system parameters are defined. [MIVIM251, June 99 ~ Q8] Desired angular position of the telescope (rad). 8, ,& Actual motor and platform positions, respectively (rad). Moment of inertia of the motor and platform/dish (kg.m’). Viscous friction coefficient of motor and platform (Navrad.s"), Radius of pinion gear and ring, gear (mi) Disturbance torque, due to wind loading (Nm), Potentiometer constant (virad), Controller gain (v/v). Power amplifier constant (Amp/v). Motor torque constant (Nmv Amp). a) Draw the free body diagrams of the motor and platform, and show that T,N ~T, = 46, + C8, ‘where Tn is the torque generated by the motor, NV = ry/ry is the gearbox ratio, and C= Co + N°Cu, and J = Jo + NJ are the effective friction and inertia terms. b) Draw the block diagram for the system, and show that the position of the platform is given by where K ~ K,KoK,K rN. { 6,K -T, . | 0 TFA Pe Js? + Cs+K | ©) Describe how the performance of the control system could be improved in order to minimise the | effects of wind load and to optimise the response. | Amplifier { Potentiometer controler [Ke Bak ak, +d Figure 2 \ i MMM251 12/00 Page 2 of 2 | Departmental Ref. Revise Date LecturerTn ~ Cabs = (Lb + C+) SE whee a ve = Tn Be Teopimtie the vesgunse ne th athe - Peedi fal jam