ESKISEHIR OSMANGAZI UNIVERSITY MECHANICAL ENGINEERING DEPARTMENT

CONTROL SYSTEMS MID-TERM EXAM ANSWER SHEET 13.4.2017

QUESTION 1) (25 P) For the system shown, find 𝜃𝐿 (𝑡)? 𝑁1

𝑁2 = 2𝑁1 , 𝑇𝑚 = −6𝜔𝑚 + 300 for 𝑒𝑎 =100 v, 𝐾𝐿 = +
𝑒𝑎 Motor
30 N-m, 𝐽𝐿 = 2𝐽𝑎 = 2 kg-m2, 𝐷𝐿 = 2𝐷𝑎 = 2 N-m- − 𝜃𝐿 𝐷𝐿
s/rad and 𝜃𝑚
𝐽𝐿
𝜃𝑚 (𝑠) 𝑘𝑡 (𝑅𝑎 𝐽𝑚 )−1 𝐾𝐿
= ∙ 𝑁2
𝐸𝑎 (𝑠) 𝑠 2 + (𝐷𝑚 + 𝑘𝑡 𝑘𝑏 ) 𝑠 + 𝐾𝑚
𝐽𝑚 𝐽𝑚 𝑅𝑎 𝐽𝑚

𝑘𝑡 𝑘𝑏 𝑘𝑡 𝑘𝑡
𝑇𝑚 = − 𝜔𝑚 + 𝑒𝑎 ⇒ = 3, 𝑘𝑏 = 2
𝑅𝑎 𝑅𝑎 𝑅𝑎
𝑁1 2 𝑁1 2 𝑁1 2
𝐽𝑚 = 𝐽𝑎 + 𝐽𝐿 ( ) = 1.5, 𝐷𝑚 = 𝐷𝑎 + 𝐷𝐿 ( ) = 1.5, 𝐾𝑚 = 𝐾𝐿 ( ) = 7.5, 𝜃𝑚 = 𝜃𝐿 𝑁2 /𝑁1
𝑁2 𝑁2 𝑁2

100 𝑘𝑡 (𝑅𝑎 𝐽𝑚 )−1 200 200

𝜃𝑚 (𝑠) = 2𝜃𝐿 (𝑡) = = =
𝐷 𝑘 𝑘 𝐾 2
𝑠 𝑠 2 + ( 𝑚 + 𝑡 𝑏 ) 𝑠 + 𝑚 𝑠(𝑠 + 5𝑠 + 5) 𝑠(𝑠 + 3.618)(𝑠 + 1.382)
𝐽𝑚 𝐽𝑚 𝑅𝑎 𝐽𝑚

100 20 12.3607 32.3607

𝜃𝐿 (𝑡) = = + −
𝑠(𝑠 + 3.618)(𝑠 + 1.382) 𝑠 𝑠 + 3.618 𝑠 + 1.382

𝜃𝐿 (𝑡) = 20 + 12.3607𝑒 −3.618𝑡 − 32.3607𝑒 −1.382𝑡

QUESTION 2) (20 P) Determine the closed loop
𝑅(𝑠) 𝐸(𝑠) 𝑘 1 𝑌(𝑠)
transfer function 𝑌(𝑠)/𝑅(𝑠)? 1
(𝑠 + 1)2
𝑘2 𝑠

𝑅(𝑠) 𝐸(𝑠) 1 𝑌(𝑠)

𝑘1
(𝑠 + 1)2

𝑘2 𝑠

𝑅(𝑠) 𝐸(𝑠) 1 𝑌(𝑠)

𝑘1
𝑠 2 + (𝑘2 + 2)𝑠 + 1

𝑌(𝑠) 𝑘1
= 2
𝑅(𝑠) 𝑠 + (𝑘2 + 2)𝑠 + 𝑘1 + 1
QUESTION 3) (25 P) Obtain the state-space model OR draw the
block diagram for the system shown? (assume that the output 𝑧1 (𝑡) 𝑧2 (𝑡)
𝑏
is the velocity of mass 𝑚, the bar at 𝑧1 is massless and there
𝑓(𝑡)
is viscous friction 𝑏 between 𝑚 and the ground). 𝑚
𝑏
𝑘
(𝑏𝑠 + 2𝑘)𝑍1 (𝑠) − 𝑘𝑍2 (𝑠) = 0 𝑘
(𝑚𝑠 2 + 𝑏𝑠 + 𝑘)𝑍2 (𝑠) − 𝑘𝑍1 (𝑠) = 𝐹(𝑠)

𝑚𝑧̈2 = 𝑓(𝑡) + 𝑘𝑧1 (𝑡) − 𝑏𝑧̇2 (𝑡) − 𝑘𝑧2 (𝑡)

𝑏𝑧̇1 (𝑡) = 𝑘𝑧2 (𝑡) − 2𝑘𝑧1 (𝑡)
𝑥1 = 𝑧1 , 𝑥2 = 𝑧2 , 𝑥3 = 𝑧̇2
𝑥̇ 1 −2𝑘/𝑏 𝑘/𝑏 0 𝑥1 0
[𝑥̇ 2 ] = [ 0 0 1 ] [𝑥2 ] + [ 0 ] 𝑓, 𝑦 = [0 0 1]𝑥 + 0𝑓
𝑥̇ 3 𝑘/𝑚 −𝑘/𝑚 −𝑏/𝑚 𝑥3 1/𝑚

𝑧̇2 (𝑡)
INPUT
𝑓(𝑡) 1 OUTPUT
1 1 1 1
𝑘
𝑚 𝑠 𝑠 𝑏 𝑠

𝑏 2𝑘
𝑘
𝑘

ALTERNATIVE SOLUTION:
State-space model
𝑍2 (𝑠) 𝑏𝑠 + 2𝑘 𝑍1 (𝑠) 𝑘
= , =
𝐹(𝑠) 𝑚𝑏𝑠 3 + (𝑏 2 + 2𝑘𝑚)𝑠 2 + 3𝑏𝑘𝑠 + 𝑘 2 𝐹(𝑠) 𝑚𝑏𝑠 3 + (𝑏 2 + 2𝑘𝑚)𝑠 2 + 3𝑏𝑘𝑠 + 𝑘 2
𝑄(𝑠) 1 𝑍2 (𝑠)
= , = 𝑏𝑠 + 2𝑘
𝐹(𝑠) 𝑚𝑏𝑠 + (𝑏 + 2𝑘𝑚)𝑠 2 + 3𝑏𝑘𝑠 + 𝑘 2
3 2 𝑄(𝑠)
𝑚𝑏𝑞⃛(𝑡) + (𝑏 2 + 2𝑘𝑚)𝑞̈ (𝑡) + 3𝑏𝑘𝑞̇ (𝑡) + 𝑘 2 𝑞(𝑡) = 𝑓(𝑡)
𝑧2 (𝑡) = 𝑏𝑞̇ (𝑡) + 2𝑘𝑞(𝑡)
𝑥1 (𝑡) = 𝑞(𝑡), 𝑥2 (𝑡) = 𝑞̇ (𝑡), 𝑥3 (𝑡) = 𝑞̈ (𝑡) →
1 𝑘2 3𝑘 𝑏 2𝑘
𝑥̇ 1 (𝑡) = 𝑥2 (𝑡), 𝑥̇ 2 (𝑡) = 𝑥3 (𝑡), 𝑥̇ 3 (𝑡) = 𝑓(𝑡) − 𝑥1 (𝑡) − 𝑥2 (𝑡) − ( + ) 𝑥3 (𝑡),
𝑚𝑏 𝑚𝑏 𝑚 𝑚 𝑏
𝑦(𝑡) = 𝑧̇2 (𝑡) = 2𝑘𝑥2 (𝑡) + 𝑏𝑥3 (𝑡)

𝑥̇ 1 0 1 0 𝑥1 0
𝑥̇
[ 2] = [ 0 0 1 𝑥
] [ 2 ] + [ 0 ] 𝑓, 𝑦 = [0 2𝑘 𝑏]𝑥 + 0𝑓
2
𝑥̇ 3 −𝑘 /(𝑚𝑏) −3𝑘/𝑚 −𝑏/𝑚 − 2𝑘/𝑏 𝑥3 1/(𝑚𝑏)
 Block-diagram

𝑏 2 + 2𝑘𝑚 𝑏
𝑧̇2 (𝑡)
2𝑘
INPUT OUTPUT
𝑓(𝑡) 𝑚𝑏𝑥̇ 3 1 𝑥̇ 3 1 𝑥3 1 𝑥2 1 𝑥1
𝑚𝑏 𝑠 𝑠 𝑠

3𝑏𝑘

𝑘2

QUESTION 4) (30 P) For the feedback system

𝑅(𝑠) 𝐸(𝑠) 𝑠+4 𝐶(𝑠)
shown 𝑘
𝑠 2 + 2𝑠 + 5
a) Find the range of 𝑘 for stability?
b) Find the steady state error 𝑒(∞) at 𝑘 = 10 1
for a unit step input? 𝑠+1

𝑠+4 1
a) 𝐶𝐸 = 1 + 𝑘 = 0 → 𝑠 3 + 3𝑠 2 + (𝑘 + 7)𝑠 + 4𝑘 + 5 = 0
𝑠2 + 2𝑠 + 5 𝑠 + 1
𝑠3 1 𝑘+7
𝑠2 3 4𝑘 + 5
𝑠1 16 − 𝑘 0
3
𝑠0 4𝑘 + 5
The system stability is guaranteed for
5
− < 𝑘 < 16
4

𝐸(𝑠) 1 𝑠 3 + 3𝑠 2 + 7𝑠 + 5 1
b) = = 3 , 𝑅(𝑠) =
𝑅(𝑠) 1 + 𝑘 𝑠+4 1 𝑠 + 3𝑠 2 + (𝑘 + 7)𝑠 + 4𝑘 + 5 𝑠
𝑠 2 + 2𝑠 + 5 𝑠 + 1

𝑠 3 + 3𝑠 2 + 7𝑠 + 5 5 5
𝑒(∞) = lim 𝑠𝐸(𝑠) = lim 3 2
= , 𝑘 = 10 → 𝑒(∞) = = 0. 1̅
𝑠→0 𝑠→0 𝑠 + 3𝑠 + (𝑘 + 7)𝑠 + 4𝑘 + 5 4𝑘 + 5 45