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Mech3610 HW5

This document contains two homework problems about ship stabilization systems and paper-making process consistency control systems. Problem 5.1 models a ship's rolling motion as an oscillating pendulum and provides the transfer function of a ship stabilization system using fins. It asks to analyze the open-loop and closed-loop sensitivity and ability to reduce step disturbances. Problem 5.2 provides diagrams and transfer functions for a paper-making process consistency control system that adds water. It asks to determine the closed-loop transfer function, sensitivity, steady-state error for a step change in desired consistency, and the effect of changing the controller transfer function on steady-state error.

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92 views2 pages

Mech3610 HW5

This document contains two homework problems about ship stabilization systems and paper-making process consistency control systems. Problem 5.1 models a ship's rolling motion as an oscillating pendulum and provides the transfer function of a ship stabilization system using fins. It asks to analyze the open-loop and closed-loop sensitivity and ability to reduce step disturbances. Problem 5.2 provides diagrams and transfer functions for a paper-making process consistency control system that adds water. It asks to determine the closed-loop transfer function, sensitivity, steady-state error for a step change in desired consistency, and the effect of changing the controller transfer function on steady-state error.

Uploaded by

Jacky Lee
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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MECH3610 HOMEWORK 5

P 5.1
It is important to ensure passenger comfort on ships by stabilizing the ship’s oscillations
due to waves. Typical ship stabilization systems employ fins to stabilize external torque
from the sea’s dynamics. A simple diagram of the system is shown in Fig. 5.1. The
rolling motion of a ship can be modeled as an oscillating pendulum with a deviation
from the vertical of 9 degrees and a typical period of 3 seconds. The transfer function
is
𝜔𝑛2
G(s) = 2
𝑠 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛2

Where natural frequency 𝜔𝑛 = 3 radss and damping ratio ξ = 0.2 . The expected
amplitude of rolling rotation caused by sea’s dynamics is 18 degrees and the oscillations
would decay due to damping effect.
Determine and compare the open-loop and closed-loop system for
(a) Sensitivity to changes in the actuator constant 𝐾𝑎 and the roll sensor 𝐾1 .
(b) The ability to reduce the effects of step disturbances of the waves. Note that the
desired roll 𝜃𝑑 (𝑠) is zero degrees.

Fig 5.1
P 5.2
One important objective of the paper-making process is to maintain uniform
consistency of the stock output as it progresses to drying and rolling. A diagram of the
thick stock consistency dilution control system and its block diagram are shown in Fig.
5.2. The amount of water added determines the consistency.
𝐾 1
Let H(s) = 1, 𝐺𝑐 (𝑠) = , 𝐺(𝑠) = . Determine:
10𝑠+1 2𝑠+1

𝑌(𝑠)
(a) The closed-loop transfer function T(s) = .
𝑅(𝑠)

(b) The sensitivity 𝑆𝑇𝐾 .


𝐴
(c) The steady-state error for a step change in the desired consistency R(s) = .
𝑠
(d) Calculate the value of K required for an allowable steady-state error of 2%.
(e) If
𝐾𝑖 𝐾(𝑠 + 𝑧1 )(𝑠 + 𝑧2 ) 1.74(𝑠 + 2.65)(𝑠 + 4)
𝐺𝑐 (𝑠) = 𝐾𝑝 + + 𝐾𝑑 𝑠 = =
𝑠 𝑠 𝑠
what will be the effect on steady-state error for a step change in the desired
𝐴
consistency R(s) = .
𝑠

(f) Let A=1, use MATLAB to plot the response of the system from (d) and (e)

relatively. Then observe the steady-state error.

Fig 5.2

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