WB MOD5 System Analysis 1/13

UNIVERSITY OF TWENTE.

WB Module 5 Dynamic Systems (2017-2018)

Solutions of the exam System Analysis

(Modelling and Analysis of Dynamic Systems)
January 12th , 2018, 13:45 – 16:45 uur

This draft document provides the solutions of the exam. This draft document is
provided to allow students to check/verify their answers, shortly after the exam. While
grading the student’s exams, these solutions, as well as the grading of the individual
questions of the exams might be adapted! Hence, this document is provided for
information purposes only; and no rights can be derived from this document.

Preamble
This is an “open book” exam, which implies that you can use during the exam:

• a hard copy of the lecture notes titled ”Design & control of Mechatronic Systems (Part 1)” edition
2017-2018, or edition 2016-2017. In these lecture notes, hand written notes may have been added
by you
• a hard copy of errata distributed by the lecturer (if any)
• a hard copy of the slides of the course. On these slides hand written notes may have been added
by you

It is expressly NOT permitted to use other material, such as the (tutorial) book with exercises (Dutch:
werkcollegebundel) and/or previous exams, nor answers/solutions to these exercises and previous exams.
The use of a (simple) calculator is permitted. Using an (advanced) programmable calculator, tablet or
laptop is NOT permitted.
The following table indicates (in brackets) the points that can be “earned” for each (sub)question.

1 (15): 1a (5), 1b (5), 1c (5).

2 (30): 2a (10), 2b (10), 2c (10).
3 (10): 3a (2), 3b (8).
4 (12): 4a (2), 4b (10).
5 (33): 5a (13), 5b (10), 5c (10).

A total of 100 points can be earned. The grade (2 digits) for the exam is determined by dividing the
number of earned points by 10; 0 to 10 points imply a grade of 1.0 and 100 points imply a grade of 10.0.
The cut-off grade, to pass the exam and therefore the course, is set at 55 points, which implies a grade
of 5.5.
You should show how you arrived at your answer to the (sub)question. In questions in which such a moti-
vation of your answer is explicitly requested, this is indicated with the phrase “Show your working out.”.
In the latter case, no points are awarded if you provide an answer without you showing your workings.
Usually, (re)using an incorrect answer from a previous (sub)question to answer a next (sub)question will
not be “punished”.

Question 1

The signal
⇡
u(t) = + 4 cos(32⇡t) + 6 sin(64⇡t) + 2, (1)
3
WB MOD5 System Analysis Solutions of the exam 12-Jan-2018 - 2/13

in which t 0, is sampled at 80Hz during 0.625 seconds.

a. Check whether or not aliasing and/or leakage occurs in the coefficients of the Discrete Fourier
Transform (DFT), due to the given sampling conditions. Show your working out.
Solution: Aliasing does not occur when fs 2 · fmax , where fs [Hz] is the sampling frequency
and fmax [Hz] is the maximum (that is the largest) frequency in the signal being sampled. The
signal u(t) is sampled at fs = 80Hz, during a time interval (= measurement time) of T = 0.625
seconds. The signal u(t) is composed of a superposition of two harmonic signals. One harmonic
component is of low frequency f1 = 32⇡ rad/s = 16Hz. The second harmonic component has a
high(er) frequency f2 = 64⇡ rad/s = 32Hz. As f2 > f1 , the maximum frequency component in
u(t) is fmax = f2 = 32 [Hz]. As mentioned above, aliasing does not occur when fs 2 · fmax .
In our case, fs = 80 [Hz] and fmax = f2 = 32 [Hz]; hence 2fmax = 64 [Hz]. So, the requirement
fs 2 · fmax is met and no aliasing will occur.
Leakage occurs when the period(s) of a periodic signal do not “fit” exactly in the measurement
time T . That is, the measurement time should be a multitude (i.e. integer value) of the period of
each periodic component in u(t). The periods of the two harmonic components in signal u(t) are
T1 = 1/f1 = 1/16 = 0.0625 [s] and T2 = 1/f2 = 1/32 = 0.03125 [s] respectively. These two
periods fit exactly T /T1 = 0.625/0.0625 = 10 times and T /T2 = 0.625/0.03125 = 20 times,
respectively, in the measurement time T = 0.625 [s]. These are integer values, so no leakage will
occur.

Scoring: Max. 5 point(s).

3 points for the right answer (and reasoning) on aliasing and 2 points for the the right
answer (and reasoning) on leakage.

b. Calculate the coefficients of the Discrete Fourier Transform (DFT), as well as the corresponding
frequencies. Show your working out.
Solution: The signal is sampled N = T · fs = 0.625 · 80 = 50 times. Therefore, the DFT
consists of (also) 50 coefficients, namely U0 , U1 , · · · , U49 . Most coefficient are zero. But, as the
signal u(t) is real and “contains” two frequencies, f1 = 16 [Hz] and f2 = 32 [Hz], according
to equation (2.67), which states that Ul = UN ⇤ , each frequency component results in two DFT
l
coefficients unequal to zero.
To calculate the 4 non-zero coefficients corresponding to the 2 frequencies f1 = 16Hz and
f2 =32Hz, we start with expression (2.61) in the lecture notes

l l 2⇡ 2⇡l
!l = !s = = (l = 0, . . . , N 1), (2)
N N Ts T

If we apply this expression to our case we find that !l = 2⇡l 2⇡l

T = 0.625 = 3.2⇡ · l and subsequently
that the coefficients U10 and U20 must be non-zero. After all, for l = 10 and l = 20 the above
expression gives !10 = 3.2⇡ · 10 = 32⇡ rad/s and !20 = 3.2⇡ · 20 = 64⇡ rad/s respectively. The
latter two angular frequencies correspond to the 2 harmonic components in signal (1). To calculate
the values of U10 en U20 we compare the signal in equation (1) to, for example, expression (2.71)
in the lecture notes
N/2 1 
U0 X 2 Re(Ul ) 2 Im(Ul ) UN/2
uk = + cos(!l tk ) sin(!l tk ) + ( 1)k . (3)
N N N N
l=1

If we compare our signal to this expression we find that

2Re(U10 ) 2Im(U10 )
= 4 and = 0 and therefore U10 = 100,
N
2Re(U20 )
N
2Im(U20 ) (4)
N = 0 and N = 6 and therefore U20 = 150 i.
WB MOD5 System Analysis Solutions of the exam 12-Jan-2018 - 3/13

Note that, the index l in equation (2.71) runs upto N/2 1 = 24. Both !10 and !20 are below the
Nyquist frequency !N . So we find the two (other) non-zero coefficients by applying Ul = UN⇤
l
⇤ ⇤
(which also implies UN l = Ul ), to equal UN 10 = U40 = U10 = 100 and UN 20 = U30 =
⇤ = +150 i respectively. The corresponding angular frequencies are !
U20 40 = 3.2⇡ · 40 = 128⇡
rad/s and !30 = 3.2⇡ · 30 = 96⇡ rad/s respectively.
The average value of the signal in equation (1) is 2 + ⇡3 . Therefore, also the coefficient U0 is non-
zero. So in total 5 coefficients of the DFT are non-zero. The value of U0 can be determined using
several equations in the lecture notes, for example using (2.64) with (2.65), or equation (2.71) or
(2.75). From these equations it follows that
U0 ⇡ ⇣ ⇡⌘ ⇣ ⇡⌘ 50⇡
= 2 + , U0 = N 2 + = 50 2 + = 100 + ⇡ 152. (5)
N 3 3 3 3
Note that there is no complex conjugate defined for U0 .
Summarizing, nearly all coefficients of the DFT are zero except

U0 = 100 + 50⇡
3 ⇡ 152 corresponding to !0 = 0 rad/s,
U10 = 100 corresponding to !10 = 32 rad/s,
U20 = 150 i corresponding to !20 = 64 rad/s, (6)
U30 = +150 i corresponding to !30 = 96 rad/s,
U40 = 100 corresponding to !40 = 128 rad/s.

Scoring: Max. 5 point(s).

One point for each correct coefficient. Do not forget to indicate the frequencies corre-
sponding to the coefficients.

c. Calculate the power of the signal. Show your working out.

Solution: The power of the signal can be calculated from the coefficients of the Discrete Fourier
transform as (see also equation (2.85) in the lecture notes)
N
X1 N 1
1 X
P = u2k = |Ul |2 , (7)
N
k=0 l=0
hp i2
where |Ul |2 = Re(Ul )2 + Im(Ul )2 = Re(Ul )2 + Im(Ul )2 . Hence the power of our signal is

1
P = 50 |U0 |2 + |U10 |2 + |U20 |2 + |U30 |2 + |U40 |2
1
= 50 1522 + 1002 + ( 150)2 + 1502 + 1002 (8)
⇡ 1764.

Scoring: Max. 5 point(s).

Note that all coefficients contribute to the power, not just the coefficients up to the
Nyquist frequency.

Question 2

Figure 1 shows a block diagram of a, further unspecified, dynamic system with input u(t) and output
y(t).

a. Derive the state space equations for this system from the block diagram and, subsequently, deter-
mine the state space matrices A, B, C, en D. Show your working out.
WB MOD5 System Analysis Solutions of the exam 12-Jan-2018 - 4/13

A4 y

1 1
u A1 A2
s s

A3

Figure 1: Block diagram of a system with input u output y, corresponding to question 2.

Solution: We first have to choose the (elements of the) state vector x̂. The elements of the state
vector are the outputs of the integrator blocks 1s . Here, the output of the left integrator is named
x1 , the output of the right integrator is named x2 . The state vector is chosen here as

x1
x̂ = . (9)
x2

Due to the naming of the elements of the state vector, the inputs of the integrators are ẋ1 and ẋ2 .
Equations for these signals, ẋ1 en ẋ2 , when expressed in states (x1 and x2 ) and/or the input u, can
be read from the block diagram, to equal
8
< ẋ1 = A1 u,
(10)
: ẋ = A (x A x ) = A x A A x .
2 2 1 3 2 2 1 2 3 2

Rewriting this expression in the form of the matrix expression x̂˙ = Ax̂ + Bu yields
 " # " #
ẋ 1
0 0 x 1
A1
x̂˙ = = + u. (11)
ẋ2 A2 A2 A3 x2 0

From the block diagram it can be read that the y, when expressed in states (x1 and x2 ) and/or
input u, equals

y = A4 A2 (x1 A3 x 2 ) = A2 A4 x 1 A2 A3 A4 x 2 . (12)

Rewriting this expression in the form of the output matrix expression y = Cx̂ + Du yields

⇥ ⇤ x1 ⇥ ⇤
y = A2 A4 A2 A3 A4 + 0 u. (13)
x2

Hence, summarizing, the state space matrices equal

" # " #
0 0 A1 ⇥ ⇤ ⇥ ⇤
A= ,B= , C = A2 A4 A2 A3 A4 ,D= 0 . (14)
A2 A2 A3 0

Scoring: Max. 10 point(s).

Most points are awarded to the first steps towards the solution. That is, choice of the
(elements of the) state space vector, the expressions in equation (10) (3 points) and
equation (12) (also 3 points). Further, one point is awarded for each matrix A, B, C,
and D. Of course the matrices depend on the order of the state variables in the state
vector x̂. So a different order of the elements in equation (9) will lead to different
matrices, which will, when the question is answered correctly, also lead to correct
matrices.
WB MOD5 System Analysis Solutions of the exam 12-Jan-2018 - 5/13

b. Based on the state space equations, derive the transfer function of this system. Show your working
out.
Solution: After Laplace transformation, the state space equations (10) read
8
< sx1 = A1 u,
(15)
: sx = A x A2 A3 x2 .
2 2 1

in which x1 , x2 and u are now Laplace variables. That is, these variables depend on s and no
longer depend on time t. So we should have been writing x1 (s), x2 (s) and u(s). However, to save
us some writing, we omit the argument s, and continue to use x1 , x2 and u. The output equation
(12) reads, after Laplace transformation
y = A2 A4 x 1 A2 A3 A4 x2 , (16)
in which also the argument s has been omitted.
Because, by definition, the transfer function equals G(s) = y/u, the state variables x1 and x2 in
equation (16) need to be expressed in the input signal u. From the first expression in equation (15)
it follows that
A1
x1 = u. (17)
s
Substitution of this result into the second expression of equation (15) yields
A1 A2 A1 A2
sx2 = u A2 A3 x 2 ) x 2 = u. (18)
s s (s + A2 A3 )
Substitution of equation (17), as well as (18) into equation (16) yields
⇠ ⇠
⇠⇠ ⇠
⇠
A1 A2 A4 A1 A22 A3 A4 sA1 A2 A4 + ⇠ A⇠
A1⇠ 2A
2 3 A4 A⇠
A1⇠
⇠
2A
2 3 A4
y= u u= u (19)
s s (s + A2 A3 ) s2 + sA2 A3
From this result we find the transfer function we are looking for
y sA1 A2 A4 A1 A2 A4
G(s) = = 2 = . (20)
u s + sA2 A3 s + A2 A3
Scoring: Max. 10 point(s).
If the approach/method to arrive to G(s) is explained correctly (and with enough detail)
6 points are awarded. If the approach/method is carried out correctly, the remaining
4 points of this question are awarded. The transfer function can also be calculated by
matrix operations, that is G(s) = C(sI A) 1 B + D. When correctly carried out,
also all points of this question are awarded, of course.
c. Derive the transfer function of the system by manipulations–i.e. using “block algebra”, of the
block diagram in figure 1. Show your working out.
Solution: The gain A1 and the left integrator can be combined into one block with transfer func-
tion As1 . The feedback loop containing the gain A3 can be replaced by a block with transfer
function
direct path A2 sA2
= A A
= . (21)
1 + loop path 1+ s 2 3 s + A2 A3
Note that, the direct path is up to the signal x˙2 , that is, the signal directly after the gain A2 . This is
because this signal is needed, via the gain A4 , to compute the output y. Hence, the block diagram
simplifies to the block diagram shown in figure 2. From this block diagram, it is easy to see that
the transfer function we are looking for is equal to
A1 sA2 A1 A2 A4
G(s) = · · A4 = . (22)
s s + A2 A3 s + A2 A3
WB MOD5 System Analysis Solutions of the exam 12-Jan-2018 - 6/13

A1 A2.s
u A4 y
s s+A2*A3

Figure 2: Simplified block diagram of the system with input u output y, corresponding to question 2.

Scoring: Max. 10 point(s).

If you found a different transfer function while answering this question, than you found
in the answer to question (b), you must indicate that these two answers should be the
same! If you do not, this is “punished”. If you found that the transfer functions of (b)
and (c) are the same (which should be the case) there is no need to point that out.

Question 3

The transfer function of a, further unspecified, dynamic system is

s + 32
G(s) = . (23)
s+4

a. Is this system stable? Show your working out.

Solution: To determine the stability of the system, we need to determine the value(s) of the pole(s)
first. The pole(s) follow from the denominator of the transfer function. That is, the pole(s) are the
solution(s) to the equation s + 4 = 0. Hence, we find one pole in s = 4. This pole is negative.
More general, it is located in the left hand plane of the complex plane. Therefore, this system is
stable. Note that, the value/location of any zero(s), does not affect the stability of a system.

Scoring: Max. 2 point(s).

If the value/location of the zero is (also) considered as relevant for the stability analysis,
no points are awarded.

b. Sketch the unit step response of the transfer function of this system. Indicate the proper quantities
and units on the axes of your graph. Show your working out.
Solution: To determine the unit step response of the system, we first need to determine is zero(s)
and pole(s). The value of the pole, s = 4, was already found above. The zero follows from
the numerator of the transfer function. That is, the zero(s) are the solution(s) to the equation
s + 32 = 0. Hence, we find one zero in s = 32. This zero is located far from the imaginary
axis, when compared to the location of the pole. More general, the (absolute) value of the zero
is more than a factor 4 or 5, larger than the the (absolute) value of the pole. And therefore the
dynamic behavior of the zero can be neglected, see 5.4.7 of the lecture notes. Therefore, the
transfer function (23) can be approximated by
32
G(s) = . (24)
s+4

Note that the original transfer function (23), and the simplified transfer function (24), both have
(of course) the same static gain (DC gain) of, limt!0 G(s) = G(0) = 32/4 = 8. The simplified
transfer function (24) is a simple first order system. In section 5.4.4 of the lecture notes, it is
described that, after ⌧ seconds, after the step input changed, the step response (so the output y(t))
reaches (100% - 37%) =63% of its final value (which is G(0) = 8). Here, the time constant equals
⌧ = 1/|pole value| = 1/| 4| = 0.25 s. Using these characteristics the step response can be
sketched, see figure 3.
WB MOD5 System Analysis Solutions of the exam 12-Jan-2018 - 7/13

Step Response
8

7
37%
6

Amplitude
4

1
t
0
0 0.5 1 1.5 2 2.5
Time (seconds)

Figure 3: Unit step response corresponding to question 3.

Scoring: Max. 8 point(s).

2 points are awarded for the correct analysis of the dominant behavior and correct
pole(s); 2 points are awarded for the correct dc-gain; 2 points for the correct time
constant; 2 points for the sketch, which should have correct axes and units.

Question 4

The transfer function of a, further unspecified, dynamic system is

32000
G(s) = . (25)
s2 + 999 s 1000

a. Sketch the pole-zero plot of this system.

Solution: The highest order of s in the denominator is 2. Hence, this system is characterized by 2
poles. The value of these poles follow from the equation s2 + 999 s 1000 = 0. By applying the
abc-formula to this equation we find the values of these two poles two equal 1 and 1000. The
highest order of s in the numerator is 0. Hence, there are no zeros. The pole-zero plot is a graph
of the complex plane (horizontal real axis, vertical imaginary axis). In the pole-zero plot, zeros
are indicated by a circle , and poles by a cross ⇥, see figure 4.

Scoring: Max. 2 point(s).

1 point for the correct pole(s) and zero(s) and 1 point for the correct pole-zero plot.

b. Sketch the Bode diagram of the transfer function on the answer sheet (see last page). Describe
how you constructed this Bode diagram. Indicate the proper quantities and units on the axes of
your plots. Show your working out.
Solution: The fact that this is an instable system (due to the pole in 1), does not mean that we can
not sketch a Bode diagram! In order to sketch the Bode diagram we need the values of the pole(s)
and zero(s), if any. These were already determined in question (a). Next, we write the transfer
function (25), as a product of transfer functions corresponding to the found pole(s) and zero(s).
WB MOD5 System Analysis Solutions of the exam 12-Jan-2018 - 8/13

Pole-Zero Map
1

0.5

Imaginary Axis (seconds -1)

Located in 1

-0.5

-1
-1000 -800 -600 -400 -200 0 200
Real Axis (seconds -1)

Figure 4: Pole-zero plot corresponding to question 4(a).

As we found two real poles and no zeros, this product consists of two first order transfer functions
and a static gain K
1 1000
G(s) = 32 · · . (26)
s 1 s + 1000
The static gain (DC gain) of the two first order terms is 1. Therefore, here, K = 32 is the static
gain of the total transfer function, which follows from lims!0 G(s) = G(0) = 320001000 = 32. All
what is left is sketching the Bode diagram of each term in (26) and add the curves of the Bode
diagrams, to get the Bode diagram of the system.
The curve corresponding to the static gain K = 32 in the amplitude plot is a horizontal line at
20 log10 (32) ⇡ 30dB. That is, the amplitude corresponding to K is constant for all frequencies,
see the solid green curve in figure 5. Also the curve in the phase plot is constant (at 0 degrees) for
all frequencies, see the green curve in figure 5.
In the amplitude plot, the curves corresponding to both s 11 and s+1000
1000
, have a horizontal asymp-
tote (starting at 0dB) for frequencies (much) lower than the transition point. The latter, is the
frequency corresponding to the pole value. These transition points are, in this case, at 1 rad/s
and 1000 rad/s respectively. For frequencies (much) larger than the frequency of the transition
points, the curves in the amplitude plot show an asymptote with a slope of 1 = 20dB/decade.
At the transition points (so at 1 rad/s and 1000 rad/s respectively) the amplitude of the curves is
-3dB smaller than the amplitude at very low frequencies. See the blue point-dashed curve and red
point-point-dashed curve in figure 5.
The curves in the phase plot of both s 11 and s+1000
1000
both start at 0 degrees. Then, the red curve
1
of the term s 1 gradually increases, around 1 rad/s, to +90 degrees at very large frequencies. The
1000
blue curve of the term s+1000 gradually decreases, around 1000 rad/s, from 0 to -90 degrees at
very large frequencies.
By adding the curves, both in the amplitude and phase plot, the dashed black curves are found.
The latter curves are the Bode diagram of the total transfer function (25).
Scoring: Max. 10 point(s).
If the approach/method to arrive to the Bode diagram is explained correctly (and with
enough detail) a maximum of 6 points is awarded. And 4 points are awarded for the
WB MOD5 System Analysis Solutions of the exam 12-Jan-2018 - 9/13

Bode Diagram
50

Magnitude (dB) 0

-50

G(s)
DC gain
-100 pole in +1
pole in -1000 1000 rad/s
1 rad/s

-150
90

45
Phase (deg)

-45

-90
10 -2 10 -1 10 0 10 1 10 2 10 3 10 4 10 5
Frequency (rad/s)

Figure 5: Bode diagram corresponding to question 4.

correct sketch, which should have correct axes and units. Note that, although the dy-
namics of the pole in -1000 is much “faster” than the dynamics of the pole in +1, the
transfer function was not simplified to a first order transfer function. In the latter case,
the remainder of this question becomes too “easy”. Hence, points will be subtracted if
you “ignore” the fast pole. After all, it was not asked to sketch the Bode diagram of
the dominant transfer function.

Question 5

Figure 6 shows a schematic representation of an electro-mechanical system, consisting of a DC motor,

which axis is rigidly connected to the input axis of a gearbox (Dutch: tandwielkast). The gear box,
consisting of three gear wheels, is used to provide speed and torque conversions from (the axis of) the
DC motor to the output axis of the third gear wheel.
Each gear wheel is characterized by inertia, namely J1 , J2 and J3 respectively. Moreover, each gear
wheel axis suffers from friction due to the bearings (not shown) of its axis, which is characterized by a
rotational viscous damping constant d1 , d2 and d3 respectively. The effective radius of the gear wheels
are r1 , r2 and r3 respectively. Any hysteresis and friction between the gear wheels is ignored.
As a “test load”, a massless rotational spring, with torsion stiffness c3 , is connected at one side to the
axis of the third gearwheel, and to the fixed coordinate system at the other side of the spring.
WB MOD5 System Analysis Solutions of the exam 12-Jan-2018 - 10/13

Gear 2 Gear 3
Gear 1 J3
d3 r3
R2 Amplifier
Motor d1 r d2
1 r2 c3
+ R1 Rm J1
U(t) C1 C2
Lm k Jm J2
m

Figure 6: Schematic representation of an electro-mechanical system, consisting of an amplifier, DC

motor, a gearbox (consisting of 3 gear wheels) and a torsion spring.

The DC motor, which drives the axis of the first gear wheel, is characterized by a motor constant km .
The casing of the motor is connected to the fixed coordinate system. The equivalent inertia of all rotating
parts of the motor is Jm . Electrically, the copper wire of/in the motor is characterized by electrical resis-
tance Rm and self-inductance Lm . The motor is driven/powered by an amplifier, which is characterized
by two resistors (R1 and R2 ) and two capacitors (C1 and C2 ). The amplifier is driven/powered by a
voltage source U (t).
In order to study the dynamic performance of this system, a model is to be derived, where the voltage U
is the input of the system and the angle ✓3 of the axis of the third gear wheel is the output.

a. Draw an Ideal Physical Model (IPM) of the mechanical part of this system, as well as one (or
more) Free Body Diagram(s) (FBD). Indicate the relevant quantities, as well as provide expres-
sions for the acting forces and/or moments (torques) in/of the system. Derive, as many as possible,
equivalent masses/inertias, equivalent springs and equivalent dampers in the system. Show your
working out.
Solution: When studying the mechanical part of this electro-mechanical system, we can conclude
that, all rotating parts of the DC motor and gear 1 are rigidly connected, so that their joint, equiv-
alent inertia is Jm + J1 . Their joint degree-of-freedom (DoF) is denoted here by angular rotation
✓1 . As there is no friction, nor hysteresis, nor compliance between gear 1 and gear 2, the inertia
J2 , of the second gear, is “felt” on/by the motor (axis) as J2 · n21 , where n1 = r1 /r2 . Similarly,
the inertia J3 , of the third gear, is “felt” on/by the motor (axis) as J3 · n21 · n22 , where n2 = r2 /r3 .
So, in total, the equivalent inertia Jeq on the (“felt” by the) motor axis equals

r12 r12 ◆ r◆22

Jeq = Jm + J1 + J2 · n21 + J3 · n21 · n22 = Jm + J1 + J2 · + J 3 · · . (27)
r22 r◆22 r32
◆
Three torques (moments) act on this equivalent inertia, see figure 7. That is:

• the motor torque Mm ,

• the torque Mc due to the equivalent torsion stiffness ceq and
• the torque Md due to the equivalent damper deq .

Note that, gravity does not affect this system.

The motor torque is equal to Mm = km · I3 , in which km is the motor constant and I3 is the
electrical current fed into the motor, see the answer to question (c) below.
The massless rotational spring, connected to the axis of the gear 3 and the fixed coordinate system,
can be “replaced” by an equivalent rotational spring on the motor axis ✓1 with the equivalent
stiffness constant ceq = c3 · n21 · n22 = c3 · r12 /r32 . The corresponding torque on/felt on the motor
axis equals Mc = ceq ✓1 .
WB MOD5 System Analysis Solutions of the exam 12-Jan-2018 - 11/13

As there is no friction, nor hysteresis, nor compliance, between gear 1 and gear 2, the rotational
damper d2 , of the axis of the second gear, is “felt” on/by the motor (axis) as d2 · n21 . Similarly, the
rotational damper d3 , of the axis of the third gear, is “felt” on/by the motor (axis) as d3 · n21 · n22 .
So, in total, the equivalent damper deq on (“felt” by) the motor axis equals

r12 r12 ◆ r◆22

deq = d1 + d2 · n21 + d3 · n21 · n22 = d1 + d2 · + d 3 · · . (28)
r22 r◆22 r32
◆

The corresponding torque on/felt on the motor axis equals Md = deq !1 , where !1 = ✓˙1 denotes
the angular speed of the motor axis.
Figure 7 shows the IPM (left) and the FBD (right) of the mechanical part of the electro-mechanical
system. Here, also the (chosen) positive directions of the torques, as well as of the angle ✓1 have
been indicated. Note that, the output of the system is the position ✓3 of gear 3, and not the angle
✓1 of the motor axis. These two coordinates are related as ✓3 = n1 · n2 · ✓1 .

q1 q1
Mc ceq Mc
Mm Mm
Jeq Jeq
Md deq Md

Figure 7: IPM (left) and FBD (right) of the electro-mechanical system.

Scoring: Max. 13 point(s).

Errors/mistakes in masses/inertias, springs, damper(s), and/or their equations, are “pun-
ished” by 2 points each. Wrong, or missing input or output are also punished by 2
points each.
Above, all equivalent quantities and parameters have been “converted” to the motor
axis. Of course, the degree of freedom could have been chosen differently. For exam-
ple, all equivalent quantities and parameters could have been “converted” to the axis
of gear 2, or 3. When, determined/calculated correctly, also points are awarded in the
case of that approach.

b. Based on the Free Body Diagram(s), derive and draw a block diagram of the mechanical part
of the system. Also indicate how this block diagram is to be connected to the block diagram
of the electrical part of the system, in order the obtain a block diagram of the complete electro-
mechanical system.
Solution: To draw the block diagram of the mechanical part of the system, we start with the
(sub)block diagram of the equivalent inertia, consisting of a gain (1/Jeq ) and two subsequent
integrators, in order to calculate the velocity !1 and angle ✓1 respectively, see figure 8. Then, if
the spring torque Mc and damper torque Md are calculated (using gain blocks) according to the
equations in the answer of the previous question, are added to the motor torque Mm , the total
summed torque on the equivalent inertia is obtained. Note the signs in the summation block! The
motor torque is calculated based on the motor constant km (gain block) and the current flowing
into the motor. This current is determined by the circuit in the electrical domain, see the answer
to question (c) below. Last, but not least, as the output of the system is ✓3 , this coordinate is
calculated from the coordinate ✓1 by means of two gain blocks. Figure 8 also shows how this
block diagram is to be connected to the block diagram of the mechanical part of the system, in
order to obtain a block diagram of the total system.

Scoring: Max. 10 point(s).

WB MOD5 System Analysis Solutions of the exam 12-Jan-2018 - 12/13

To electrical part

km
I
From 1 1
1/Jeq n1 n2
electrical s omega1 s theta1 theta3
Output
part

deq

ceq

Figure 8: Block diagram of the mechanical part of the electro-mechanical system.

Errors are punished by 1 or 2 points each. E.g. missing block(s) or signs. Wrong, or
missing input or output are also punished by 2 points each. The block diagram show
one gain block with km . If this gain is missing, but is part of the block diagram in the
electrical system (see below), it is not “punished” here. All in all, there should be two
gains with km in the block diagram of the total electro-mechanical system; not more;
not less.

c. Derive and draw a block diagram of the electrical part of the system, in which the voltage U is
considered as the input. Also indicate how this block diagram is to be connected to the block
diagram of the mechanical part of the system, in order the obtain a block diagram of the complete
electro-mechanical system.
Solution: We follow the steps of the systematic method, listed in section 7.7 of the lecture notes.
Most relevant components are already named in figure 6. Namely, a voltage source U , resistors
R1 and R2 , two capacitors C1 and C2 , and last-but-not-least, the electrical resistance Rm and
inductance Lm of the wire of the DC motor. The DC motor is modeled electrically as a voltage
source Ub , representing the back-emf of the motor. The magnitude of this voltage source is Ub =
km · !1 , in which km is the motor constant and !1 is the angular velocity of the equivalent inertia
Jeq identified in the answer to question (a) above. The two parallel resistors R1 and R2 can be
replaced by a single equivalent resistor with the value Req = R1 · R2 /(R1 + R2 ). The two
parallel capacitors C1 and C2 can be replaced by a single equivalent capacitor with the value
Ceq = C1 + C2 . The result of the following steps, of the systematic method, is shown in figure 9.
Here, a reference voltage U0 has been chosen. In the circuit, 2 loop currents can be identified, as

U1 I1 Req U2 I3 U3 U4
+ +
V

Rm Lm Ub(t)
I2 V Ceq
U(t)
U0
Figure 9: Result of steps 1 up to and including step 6 of the systematic approach in modeling of electric
circuits.

well as 4 nodal voltages U1 , U2 , U3 and U4 . Also 3 currents I1 , I2 and I3 are identified.

For steps 7 and 8 of the systematic approach, we look for 2 “current determining elements” (be-
cause 2 loop currents have been identified) and 4 “voltage determining elements” (because 4 nodal
voltages have been identified).
Let’s start with the “current determining elements”. Because there is no current source, nor a coil
present in loop 1, the resistor Req is the “current determining element” in loop 1. Because there is
WB MOD5 System Analysis Solutions of the exam 12-Jan-2018 - 13/13

no current source, but a coil Lm present in loop 2, this coil is the “current determining element”
in loop 2.
Now let’s determine the “voltage determining element” for each of the nodal voltages. The “volt-
age determining element” connected to nodal voltage U1 is the voltage source U . The “voltage
determining element” connected to nodal voltage U2 is the capacitor Ceq , because there is no
voltage source connected to this nodal voltage. The “voltage determining element” connected to
nodal voltage U3 is the resistor Rm , because there is no voltage source, nor a capacitor connected
to this nodal point. Finally, the “voltage determining element” connected to nodal voltage U4 is,
of course, the voltage source Ub = km !1 .
All in all, this gives the following expressions for these elements:
U1 U2
I1 = ,
Req
Z Z
1 1
I3 = U3 U4 dt = U2 (U2 U3 ) U4 dt
Lm Lm
U1 = U (t),
Z Z (29)
1 1
U2 = I2 dt = I1 I3 dt, ,
Ceq Ceq
U2 U3 = I 3 Rm ,

U 4 = U b = k m !1 .

The laws of Kirchhoff have already been used in this to express the unknown current(s) (here
I2 ) and voltages in in terms of the known currents (here I1 and I3 ) and known voltages. The
block diagram can now be drawn on the basis of the elements and their equations, see figure 10.
This figure also shows how this block diagram is to be connected to the block diagram of the
mechanical part of the system, in order to obtain a block diagram of the total system.

1
1 1/Req 1/Ceq
U1 U1-U2 I1 I2 s U2
Input

omega1 I3
km
U4=Ub
from 1
1/Lm 1
mechanical U3-U4 s I3
to
part
mechnical
part
U2-U3
Rm

Figure 10: Block diagram of the electrical part of the system.

Scoring: Max. 10 point(s).

Errors are punished by 1 or 2 points each. E.g. missing block(s) or signs. Wrong, or
missing input or output are also punished by 2 points each. The block diagram show
one gain block with km . If this gain is missing, but is part of the block diagram in
the mechanical system (see above), it is not “punished” here. All in all, there should
be two gains with km in the block diagram of the total electro-mechanical system; not
more; not less.