Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
1. (15 pts) The figure below shows a linkage, which is made of a bar whose upper and lower ends are
connected to a spring k1 and a parallel spring-damper, k2 and b, respectively. As shown in the figure, the
second end of the spring k1 is fixed, whereas the second end of the parallel spring-damper is connected to a
prescribed motion xi(t). The total length and the mass moment of inertia about its pivot O of the bar are
L1 + L2 and Jo, respectively. The angular position of the bar from the vertical line is called θo(t). Assume
small θo, i.e., θ o ( t ) 1 . Derive the governing equation of the mechanism with xi(t) and θo(t) as the input
and output, respectively, in the form:
J eqθ o ( t ) + br ,eqθ o ( t ) + kr ,eqθ o ( t ) = f xi ( t ) , xi ( t ) ,
where Jeq, br,eq and kr,eq are the equivalent mass moment of inertia, equivalent rotational damping constant,
and equivalent rotational spring constant, respectively, and the term f xi ( t ) , xi ( t ) , is the
corresponding input forcing function. Determine also the undamped natural frequency ωn and damping ratio
ζ of the system?
k1
θo(t)
L1 Jo
L2
k2 O
xi(t)
b
2. The figure on next page shows the block diagram of speed control of a servo motor with minor loop
feedback. The system is subject to a disturbance torque Td(s). In the block diagram, Ω(s) is the controlled
speed output whereas KT, Kb, Kf, La, Ra, J and br are positive constants. Here, KT, Kb and Kf are the motor
torque, back-emf and minor-loop feedback constants, respectively; La and Ra are the armature inductance
and resistance, respectively; whereas J and br are the moment of inertia and viscous-friction coefficient of
the motor and load referred to the motor shaft, respectively.
Ω(s)
(a) (10 pts) Obtain the transfer function: .
Td ( s )
(b) (3 pts) Determine the steady-state error ωs.s. = lim ω ( t ) when the disturbance torque is a step function:
t →∞
T for t > 0
Td ( t ) = Td i1( t ) = d .
0 for t < 0
(c) (2 pts) Is this a good control strategy for disturbance rejection? Justify your reason.
ME 41100: SYSTEMS MODELING, ANALYSIS AND CONTROL Wednesday, October 31, 2007
FALL 2007 PROBLEMS EXAM I – PROBLEMS (Open-Book, Open-Notes) Page 2/4
Td(s)
Kf
Kb
Eo ( s )
3. (a) (10 pts) Obtain the transfer function: of the RLC operational amplifier circuit shown below.
Ei ( s )
Here Ei(s) and Eo(s) are the Laplace transforms of the input and output voltages, ei(t) and eo(t),
respectively. Assume the operational amplifier is an ideal one.
(b) (3 pts). Determine the system order. If it is a 1st-order system, Find the time constant τ and the static
sensitivities K j ( j = 0,1, , m ) . On the other hand, if it is a 2nd-order system, find the corresponding
undamped natural frequency ωn, damping ratio ζ and the static sensitivities K j ( j = 0,1, , m ) . Finally,
if the system is of higher-order (i.e., the system order is ≥ 3), just state it and do nothing.
e for t > 0
(b) (2 pts) If the input voltage ei(t) is a step function, i.e., ei ( t ) = ei i1( t ) = i , where the constant
0 for t < 0
ei is the step input voltage, determine the steady-state output voltage eos.s. = lim eo ( t ) . If possible,
t →∞
estimate the time required to reach within ±1% of this steady state. If not, justify your reason why not?
Cf
Li
−
+ +
+
Ri
ei(t) Rg eo(t)
− −
ME 41100: SYSTEMS MODELING, ANALYSIS AND CONTROL Wednesday, October 31, 2007
FALL 2007 PROBLEMS EXAM I – PROBLEMS (Open-Book, Open-Notes) Page 3/4
x1(t)
A
B
0 t1 t2 t3 t4 t
(e) (15 pts) Use MATAB and the data tabulated below to plot the input and response curves x1(t) and x2(t)
within the time range of 0 to 10.
Note: You should either copy all your MATLAB statements and results (including figures) onto the
exam book or print out the MATLAB statements and results.
Parameter m b k1 k2 k3 A B t1 t2 t3 t4
Data 3 8 2 6 4 5 3 2 4 5 7
ME 41100: SYSTEMS MODELING, ANALYSIS AND CONTROL Wednesday, October 31, 2007
FALL 2007 PROBLEMS EXAM I – PROBLEMS (Open-Book, Open-Notes) Page 4/4
ME 41100: SYSTEMS MODELING, ANALYSIS AND CONTROL Wednesday, October 31, 2007