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MAE 4421: Control of Mechanical and Aerospace Systems Mechanical and Aerospace Engineering Spring 2015

Homework 2

1)

Use block diagram manipulations and simplifications to derive the closed-loop transfer function, () = ()/() for each of the following systems. Show your work, including all intermediate simplified block diagrams, along with explanations of the simplifications you make.

a)

b)

c)

 2) Create a signal flow graph for each of the block diagrams from problem 1, and then use Mason’s rule to determine the closed loop transfer function for each system. 3) The following schematic represents a simplified model of a DC motor:

The motor is describe by the following differential equation:

2

̇ + + =

a) Determine the motor’s transfer function from the input voltage to the shaft speed:

() = Ω() ()

b) Determine the motor’s transfer function from the input voltage to the shaft position:

() = Θ() ()

c)

Add position control to the motor in the form of unity feedback with a controller gain of . Draw a block diagram for this closed-loop system, and determine the closed-loop transfer function from the reference input to the motor position:

() = Θ() ()

For the remainder of the problem, use the following system parameter values:

= 0.01 2

= 0.001 ⋅ ⋅

= 0.02

= 10Ω

d) Determine the requirements on the controller gain, , such that position overshoot is limited to %15%.

e) What value of gain, , will yield a risetime of 12. What is the overshoot at this value of gain?

4)

This problem examines the concept of dominant system poles, and the relationship between the real parts of poles and their relative effects on the system response.

Consider the following third-order system, consisting of a pair of underdamped poles and a single real pole

() =

2

2

( + )( 2 + 2 + )

It can be shown that the step response for this system is

() = 1 + + sin( )

where

=

2

2

2 + 2

=

( 2 2 + )(1 2 )

2

= tan 1 1 2

+

tan 1 1 2

a) What is the approximate step response when gets very large? That is, as the frequency of the real pole gets very large, and that pole moves very far into the LHP.

b) What is the approximate step response when gets small? That is, as moves toward the origin in the LHP.

c) Now, let = 1 and = 0.7. Additionally, express the value of the real pole as a multiple of the real part of the underdamped poles: = . Use MATLAB to generate step responses for a range of values to help answer the following question. How large must be for the underdamped poles to dominate the system response, and for the effect of the single real pole to be negligible? What you’re determining here is roughly how much higher in frequency a pole must be (i.e., its real part) for it to have a negligible impact on system response.

The details of your MATLAB plot are left up to you. Choose the values of for which you plot responses, and the overall plot formatting to best communicate an answer to the questions above.