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Homework 3

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75 views2 pages

Homework 3

Uploaded by

Veljko
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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ME 155A Homework 3

Should be handed in by Thursday October 19

Problem 1
Consider systems with the transfer functions

2
G1 (s) =
( s + 1) 3
2(1 − s) 1− s 2
G2 (s) = =
( s + 1) 4 1 + s ( s + 1) 3

Sketch the Bode diagrams of the systems. Plot the Bode diagrams in Matlab
and compare with your sketches. Compare the results! Compare gain and phase
curves. What conclusions can you draw. Also plot the Nyquist curves and the
step resposes of the systems.

Problem 2
A schematic representation of an electrical motor with a permanent magnet is
given below

R L +
M J ω
u M e
− D
i

(a) (b)

The motor is a typical electro-mechanical system. It is characterized by the pa-


rameters: R rotor resistance, L rotor inductance, J moment of inertia, D viscous
damping, ki torque sensitivity, ke back EMF coefficient.
The torque created by the rotor current I is T = ki I and the back EMF
caused by the rotation of the rotor is e = keω . Explain why ki = ke if proper
units are used? Develop a mathematical model for the system. Before you start
to write equations please stop and think about where the energy is stored. Write
the state equations for the system. Show that the transfer function from voltage
to angular velocity is given by

Lω ki
=
L V ( Js + D )( Ls + R) + ke ki
Remark - A useful approximation You do not have to show this but if damp-
ing D is negligible and L is small, the transfer function can be approximated
by

Lω 1 1
=
L V ke (1 + sTm )(1 + sTe)
RJ L
where Tm = is the mechanical time constant and Te = is the electrical
ke ki R
time constant.

2000-10-12 23:23 1
Problem 3
Consider the DC motor in Problem 2 but assume that it drives a load having
moment of inertia Jl over a gear box with gear ratio 1:n. Write the state equations
and derive the the transfer function from driving voltage to angular velocity of
the motor. Compare with the results of Problem 2.

Problem 4
Consider the DC motor in Problem 1 but assume that it drives a load consisting
of two wheels with moments of inertias J1 and J2 . The wheel J1 is coupled rigidly
to the motor but the wheels J1 and J2 are coupled with a torsional spring and
dampers as indicated in the figure below
k
f
J J
u M
1
ω 2 ω
1 2
Motor
ϕ ϕ
1 2

d
f

d d
1 2

Derive the state equations for the system. Compare with the results of Problem
2.

Problem 5
Consider a system with the transfer function
1
G ( s) =
( s + 1) 2
Let the input signal be u(t) = sin 3t compute the steady state output. Use Matlab
to check your results.

Problem 6
Consider a system with the transfer function
1
G ( s) =
( s − 1) 2
Let the input signal be y(t) = sin 3t compute the steady state output.

Problem 7
Consider the transfer functions
s+3
G1 (s) =
(s + 1)(s + 2)
−s + 3
G2 (s) =
(s + 1)(s + 2)

Are the systems systems minimum phase or non-minimum phase. Use Matlab
to calculate the step responses of the systems.

2000-10-12 23:23 2

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