CONTROL SYSTEMS ENGINEERING D227

S.A.E. SOLUTIONS

TUTORIAL 1 CREATING MODELS OF ENGINEERING SYSTEMS

SELF ASSESSMENT EXERCISE No.1

1. A mass spring system has the following parameters. Stiffness K =1200 N/m Mass M =15 kg
Damping Coefficient k
d
=120 Ns/m

i. Calculate the time constant, critical damping coefficient and the damping ratio.
ii. If a constant force of 22 N is applied, what will be the static position of the mass?
iii. Calculate the force needed to make the mass move with a constant acceleration of 12 m/s
2
at
the point where the velocity is 1.2 m/s.

i. T =(M/k) =(15/1200) =0.0112 seconds
c
c
=4MK =(4 x 15 x 1200) =268.3 Ns/m
=k
d
/ c
c
=120/268.3 =0.447
ii. Static deflection =F/K =22/1200 = 0.0183 m
iii. For a constant acceleration s
2
x =a (acceleration) and sx =v (velocity)

( )
( )
( ) x x x
x
1200 s 6 s 0.15 F
1 0.0112s x 0.447 x 2 s 0.0112 200 1 F
1 Ts 2 s T kx F
1 Ts 2 s T
1/k
(s)
F
x
2
2 2
2 2
2 2
+ + =
+ + =
+ + =
+ +
=

F =0.15 a +6 v +1200 x
For velocity =1.2 m/s and a =12 m/s
2
F =0.15 (12) +6 (1.2) +1200 x
The deflection x would need to be evaluated from other methods x =v
2
/2a =0.06 m
F =81 N

SELF ASSESSMENT EXERCISE No.2

Derive the transfer function for a mass on a torsion bar fitted with a damper and show it is another
example of the second order transfer function. T is torque and J is moment of inertia.


1 Ts 2 s T
1/k

1 /k)s (J k (J /k)s
1/k
(s)
T

G(s)
2 2
d
2
+ +
=
+ +
= =

The input is the force F and the output is the movement x, both being functions of time.
Spring Torque T
s
=k
Damping Torque T
d
=k
d
d/dt
Inertia Torque T
i
=Id
2
/dt
2

The three torques oppose motion so if the total torque on the system is zero then T =T
i
+T
d
+T
s

1 /k) s(k (I/k) s
1/k
(s)
T
G(s) k s k Is T(s) k
dt
d
k
dt
d
I T(t)
d
2
d
2
d
2
2
+ +
= = + + = + + =



If we
examine the units of (I/k)
1/2
we find it is seconds and this is the second order time constant also
with the symbol T. The transfer function may be written as
1 Ts 2 s T
1/k
(s)
T
G(s)
2 2
+ +
= =




SELF ASSESSMENT EXERCISE No.3

A DC Servo motor has a moment of inertia of 12 kg m
2
. It is coupled to an aerial rotator through a
gear reduction ratio of 4. The driven mass has a moment of inertia of 15 kg m
2
. The damping on the
motor is 0.2 N m s/rad and on the rotator bearings it is 0.4 N m s/rad. Calculate the torque required
from the motor to

i. Turn the aerial at a constant rate of 0.5 rad/s.
ii. Accelerate the rotator at 0.02 rad/s
2
at the start when =0


i. I
e
=(I
m
+G
r
2
I
o
) =(12 +4
2
x 15) =242 kg m
2
.
K
de
=(k
dm


+G
r
2
k
do
) =(0.2 +4
2
x 0.4) =6.6 N m s/rad.
(s)/T
m
(s) =(1/I
e
)/s{s

+K
de
/I
e
}

( )
6 . 6 242 T
K I T
/I k s s
1/I
(s)
T

m
de e m
e de
e
m
+ =
+ =
+
=


If the rotator is moving at constant speed (acceleration) is zero. Hence:
T
m
=6.6 = 6.6 x 0.5 =3.3 Nm

ii. When accelerating at 0.02 rad/s
2
the motor acceleration is 4 times larger at 0.08 rad/s
2
.

T
m
=242 +6.6 =19.36 Nm when =0


SELF ASSESSMENT EXERCISE No.4

1. A hydraulic motor has a nominal displacement of 5 cm
3
/radian. Calculate the torque produced at a
pressure of 120 bar.


T =k
q
p =5 x 10
-6
x 120 x 10
5
=60 Nm

2. A hydraulic cylinder has bore of 50 mm and is controlled with a valve with a constant k
v
=0.05
m
2
/s

Calculate the time constant T. Given that x
i
and x
o
are zero when t =0, calculate the velocity of the
piston and the output position after 0.2 seconds when the input is changed suddenly to 4 mm.


A = x 0.05
2
/4 =0.00196 m
2
T =A/k
v
=0.00196/0.05 =0.0393 s

m/s 102 . 0
s 0.0393
m 0.004
T
x
velocity
dt
dx
x
dt
dx
T x Tsx
Ts
1
(s)
x
x
G(s)
i o
i
o
i o
i
o
= = = = = = = =

Velocity =distance /time distance =x
o
=v t =0.102 x 0.2 =0.204 or 20.4 mm assuming
the velocity is constant.