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T (s) =
76.39 K
s + 151.32s 2 + 198s + 76.39 K
3
198
s2
151.32
76.39K
s1
29961.36 76.39 K
151.32
s0
76.39K
From the s1 row, K < 392.2. From the s0 row, 0 < K . Therefore, 0 < K < 392.2.
UFSS Vehicle: Stability Design via Gain
G1 =
0.125 ( s + 0.437 ) 2
s ( s + 2 )( s + 1.29 )( s + 0.193)
G2 =
G1
1 + G1 ( s )
0.25s 0.10925
s + 3.483s 3 + 3.465s 2 + 0.60719 s
G3 = K1G2
G2 =
G3 =
( 0.25s + 0.10925) K1
s4
3.465
0.10925K1
s3
3.483
0.25 ( K1 + 2.4288 )
0.10925K1
s1
0.25
1
( K1 45.84 )
4
3.483
( K1 + 4.2141)( K1 26.42 )
s0
K1 45.84
0.10925K1
SOLUTIONS TO PROBLEMS
1.
s5
s4
s3
3.667
s2
s1
2.75
s0
2 rhp; 3 lhp
2.
s5
s4
20
s3
s2
10
20
20
20
The auxiliary polynomial for row 4 is Q ( s ) = 5s 2 + 20 , with Q ( s ) = 10 , so there are two roots
on the j -axis. The first column shows two sign changes so there are two roots on the right
half-plane. The balance, one root must be in the left half-plane.
3.
s5
s4
s3
1 4
s2
s1
2 2 + 1 4
1 4
s0
3 rhp, 2 lhp
4.
s5
s4
s3
ROZ
s2
s1
1/ 3
s0
4
Even ( 4 ) :4 j ; Rest (1) :1rhp;Total ( 5 ) :1rhp; 4 j
5.
s4
s3
s1
s0
ROZ
6.
s6
s5
s4
s3
24
s2
s1
144 /
s0
ROZ
7.
Program:
%det ([si() si(); sj() sj()])/sj()
%Template for use in each cell.
syms e
%%%%%%%%%%%%%%%%%%%%%%%%%%$$$$$$$$$%%%%%%%%%%%
s5=[1
0]
%%%%%%%%%%%%%%%%%%%%%%%%%%%$$$$$$$$$%%%%%%%%%%
s4=[1
0]
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
if det([s5(1) s5(2); s4(1) s4(2)])/s4(1)= =0
s3=[e...
det([s5(1) s5(3); s4(1) s4(3)])/s4(1)
0];
0];
s2=[e...
0];
. . .
0];
. . .
0];
. . .
0
0];
. . .
0
0];
%Display label.
s3=simplify(s3);
pretty(s3)
's2'
%Display label.
s2=simplify(s2);
pretty(s2)
's1'
%Display label.
s1=simplify(s1);
pretty(s1)
's0'
%Display label.
s0=simplify(s0);
pretty(s0)
Computer response:
s5 =
1
s4 =
ans =
s3
[e
0]
4 e
[ -------------[
ans =
s1
[
[
2 e
+ 1 - 4 e
[- -------------[
]
0
-1 + 4 e
s0
0
0]
8.
T (s) =
240
s + 10 s + 35s 2 + 50s + 264
4
s4
35
264
s3
10
50
s2
30
264
s1
38
s0
264
2 rhp, 2 lhp
9.
T (s) =
1
4s + 4s 2 + 1
4
s4
s3
16
s1
s0
0]
]
ans =
[2
0]
Even ( 4 ) :4 j
ROZ
ROZ
10.
( s + 2 ) = 0 or
s ( s 1)( s + 3)
s ( s 1)( s + 3) + K ( s + 2 ) = 0 or
s 3 + 2 s 2 + ( K 3) s + 2 K = 0
K 3
s2
2K
2K
The first column will always have a sign change regardless of the value of K. There is no
value of K that will stabilize this system.
11.
T (s) =
84
s + 5s + 12s + 25s + 45s 4 + 50s 3 + 82s 2 + 60s + 84
8
S8
12
45
82
S7
10
12
s6
10
12
s5
10
10
s4
20
36
s3
29
s2
s1
49
s0
84
ROZ
12.
T (s) =
1
2 s + 5s + s 2 + 2 s + 1
4
s4
s3
s2
s1
23
T (s) =
8
s 2 s s + 2 s + 4 s 3 8s 2 4 s + 8
7
s7
s6
s5
12
16
s4
0.6667
5.333
s3
88
128
s2
4.364
s1
33.33
s0
ROZ
Even (6): 3 rhp, 3 lhp; Rest (1): 1 rhp; Total: 4 rhp, 3 lhp
14.
Program:
numg=8;
deng=[1
0];
'G(s)'
G=tf(numg,deng)
'T(s)'
T=feedback(G,1)
'Poles of T(s)'
pole(T)
Computer response:
ans =
G(s)
Transfer function:
8
----------------------------------------------s^7 - 2 s^6 - s^5 + 2 s^4 + 4 s^3 - 8 s^2 - 4 s
ans =
T(s)
Transfer function:
8
--------------------------------------------------s^7 - 2 s^6 - s^5 + 2 s^4 + 4 s^3 - 8 s^2 - 4 s + 8
ans =
Poles of T(s)
ans =
-1.0000 + 1.0000i
-1.0000 - 1.0000i
-1.0000
2.0000
1.0000 + 1.0000i
1.0000 - 1.0000i
1.0000
15.
16.
Even (6): 1 rhp, 1 lhp, 4 j ; Rest (1): 1 lhp; Total: 1 rhp, 2 lhp, 4 j
T (s) =
6
s + 4s + 2s3 2s 2 + s 6
5
s5
s4
s3
2.5
2.5
s2
s1
12
s0
ROZ
G (s) =
507
1
; H ( s ) = . Therefore,
2
s + 3s + 10s + 30 s + 169
s
T (s) =
G
507 s
= 5
4
3
1 + G H s + 3s + 10s + 30s 2 + 169s + 507
s5
10
169
s4
30
507
s3
12
60
s2
15
507
345.6
s0
507
ROZ
Even (4): 2 rhp, 2 lhp, 0 j ; Rest (1): 0 rhp, 1 lhp, 0 j ; Total (5): 2 rhp, 3 lhp, 0 j
18.
T (s) =
K ( s 2 + 1)
(1 + K ) s 2 + 3s + ( 2 + K )
T (s) =
K ( s + 6)
s + 4 s + ( K + 3) s + 6 K
3
s3
3+ K
s2
6K
s1
1
3 K
2
s0
6K
K (s a)
= 0 or s 2 + ( K b ) s Ka = 0 . The Routh
s ( s b)
array is
s2
K b
Ka
Ka
21.
T (s) =
K ( s + 1)
s + 9s + 26s 2 + ( 24 + K ) s + K
4
s4
26
s3
24 + K
s2
210 K
9K
s1
K 2 + 105K + 5040
210 K
s0
9K
2
0
3
0
4]);
K(i)
R=roots (dent);
A=real (R);
B=max (A);
of B>0
R
K=K (i)
Break
end
end
Computer response:
R
=
8.0442
0.0000 + 4.2791i
0.0000 4.2791i
0.9559
K =
140.8000
K(i)];
23.
Program:
%-det([si() si();sj() sj()])/sj()
%Template for use in each cell.
syms K
s4=[1
26
0]
s3=[9
24+
0];
0];
0];
%Display label.
s2=simplify(s2);
pretty(s2)
's1'
%Display label.
s1=simplify(s1);
pretty(s1)
's0'
%Display label.
s0=simplify(s0);
pretty(s0)
Computer response:
s4
1,
s3
[
ans
26,
9,
K,
0]
24+K,
0,
0]
s2
[70/3
ans
1/9
0]
s1
[
[105
2
K
5040
[-----------------------[
210
]
0
]
]
ans =
s0
[K
0]
24.
T (s) =
K ( s + 2 )( s 2 )
3
. For positive coefficients in the denominator, 1 < K < .
2
4
( K + 1) s + ( 3 4 K )
25.
T (s) =
K ( s + 1)
. Always unstable since s3 and s2 terms are missing.
4
s + 2s + Ks + K
T (s) =
K ( s 2 )( s + 4 )( s + 5 )
Ks 3 + ( 7 K + 1) s 2 + 2 Ks + ( 3 40 K )
26.
s3
2K
s1
54 K 2 K
7K +1
s0
3 40K
For stability,
1
3
<K<
54
40
27.
T (s) =
K ( s + 2)
s + 3s 3s + ( K + 3) s + ( 2 K 4 )
4
s4
2K 4
s3
K +3
s2
( K + 12 )
3
2K 4
s1
K ( K + 33)
K + 12
s0
2K 4
Conditions state that K < 12, K > 2 , and K > 33 . These conditions cannot be met
simultaneously. System is not stable for any value of K.
28.
T (s) =
K
s + 80 s + 2001s + ( K + 15390 )
3
s3
2001
s2
80
K + 15390
s1
s0
1
14469
K+
80
8
K + 15390
0
0
There will be a row of zeros at s1 row if K = 144690 . The previous row, s2, yields the
auxiliary equation, 80 s 2 + (144690 + 15390 ) = 0 . Thus, s = j 44.73 . Hence, K = 144690
yields an oscillation of 44.73 rad/s.
29.
T (s) =
Ks 4 Ks 2 + 2 Ks + 2 K
( K + 1) s 2 + 2 (1 K ) s + ( 2 K + 1)
1
< K < 1.
2
30.
T (s) =
( s + 2 )( s + 7 )
s 4 + 11s 3 + ( K + 31) s 2 + ( 8 K + 21) s + 12 K
s4
K + 31
12K
s3
11
8 K + 21
s2
3K + 320
11
12K
s1
24 K 2 + 1171K + 6720
3K + 320
s0
12K
31.
s2 row says 106.7 < K . s1 row says K < 42.15 and 6.64 < K . s0 row says 0 < K .
T (s) =
K ( s + 4)
s + 3s + ( 2 + K ) s + 4 K
3
s3
2+ K
s2
4K
s1
6 K
s0
4K
K ( s 1)( s 2 )
( s + 2) ( s
+ 2s + 2 )
. Therefore, T ( s ) =
( s 2 )( s 1) K
.
+ ( K + 4 ) s 2 + ( 6 3K ) s + 2 ( K + 2 )
s3
6 3K
s2
4+ K
4 + 2K
s1
( 3K 2 + 8K 20 )
s0
4 + 2K
K +4
From s1 row: K = 1.57, 4.24 ; From s2 row: 4 < K ; From s0 row: 2 < K . Therefore,
2 < K < 1.57 .
33.
Applying the feedback formula on the inner loop and multiplying by K yields
Ge ( s ) =
K
s ( s + 5s + 7 )
2
Thus,
T (s) =
K
s + 5s + 7 s + K
3
s2
s1
35 K
5
s0
For oscillation, the s1 row must be a row of zeros. Thus, K = 35 will make the system
oscillate. The previous row now becomes, 5s 2 + 35 . Thus, s 2 + 7 = 0 , or s = j 7 .
7 rad/s .
T (s) =
Ks 2 + 2 Ks
s 3 + ( K 1) s 2 + ( 2 K 4 ) s + 24
s3
2K 4
s2
K 1
24
s1
2 K 2 6 K 20
K 1
s0
24
35.
Program:
K=[0:0.001:200];
for i=1:length(K);
deng=conv([1 4 8],[1 3]);
numg=[0 K(i) 2*K(i) 0];
dent=numg+deng;
R=roots(dent);
A=real(R);
B=max(A);
if B<0
R
K=K(i)
break
end
end
Computer response:
=
4.0000
0.0000 + 2.4495i
0.0000 2.4495i
=
5
a. From the computer response, (a) the range of K for stability is 0 < K < 5 .
b. The system oscillates at K = 5 at a frequency of 2.4494 rad/s as seen from R, the poles
36. T ( s ) =
K ( s + 2)
s + 3s 3s + ( K + 3) s + ( 2 K 4 )
4
s4
2K 4
s3
K +3
2K 4
s2
K + 12
3
s1
K ( K + 33)
K + 12
s0
2K 4
For K < 33 :1 sign change; For 33 < K < 12 :1 sign change; For 12 < K < 0 :1 sign
change; For 0 < K < 2 : 3 sign changes; For K > 2 : 2 sign changes. Therefore, K > 2
yields two right-half-plane poles.
37.
T (s) =
K
s + 7 s + 15s + 13s + ( 4 + K )
4
s4
15
K +4
s3
13
s2
92
7
K +4
s1
1000 49 K
92
s0
K +4
= 1.3628 rad/s .
92 2
s + 24.41 . Thus, s = j1.3628 , or
7
38.
T (s) =
K
s + 14 s + 45s + ( K + 50 )
3
s3
45
s2
14
K + 50
s1
580 K
14
s0
K + 50
= 6.71rad/s .
39.
T (s) =
K
s + 8s + 17 s 2 + 10s + K
4
s4
17
s3
10
s2
126
8
s1
32
K + 10
63
s0
126 2
s + 19.69 . Thus, s = j 1.25 , or
8
= 1.118 rad/s .
c. Denominator of closed-loop transfer function is s 4 + 8s 3 + 17 s 2 + 10 s + K . Substituting
K = 19.69 and solving for the roots yield s = j1.118, 4.5 , and 3.5 .
40.
T (s) =
K ( s 2 + 2 s + 1)
s 3 + 2s 2 + ( K + 1) s K
s3
K +1
s2
s1
3K + 2
2
s0
2
Stability if < K < 0 .
3
41.
T (s) =
2s 4 + ( K + 2 ) s 3 + Ks 2
s3 + s 2 + 2s + K
s3
s2
s1
2 K
42.
K2
K1
s2
K1 K 2 5
K1
s1
K12 5K1 K 2 + 25
5 K1 K 2
s0
For stability, K1 K 2 > 5; K12 + 25 < 5K1 K 2 ; and K1 > 0 . Thus 0 < K12 < 5K1 K 2 25 , or
0 < K1 < 5K1 K 2 25 .
43.
s4
s3
K1
K2
s2
K1 K 2
K1
K12 K1 K 2 + K 22
K 2 K1
s0
For two j poles, K12 K1 K 2 + K 22 = 0 . However, there are no real roots. Therefore, there
is no relationship between K1 and K2 that will yield just two j poles .
44.
s8
1.18 E + 03
2.15 E + 03
1.06 E + 04
415
s7
103
4.04 E + 03
8.96 E + 03
1.55 E + 03
s6
1140.7767
2236.99029
10584.951
415
s5
3838.02357
8004.2915
1512.5299
s4
4616.10784
10135.382
415
s3
422.685462
1167.4817
s2
2614.57505
415
s1
1100.3907
s0
415
s3
s2
2
3
No RHP roots
K 2 ( s ) = 2 + 2s + 6s 2 + s3
No RHP roots
s3
s2
5
3
K3 ( s ) = 4 + s + 4s 2 + s 3
s3
s2
s3
s2
No RHP roots
The interval polynomial has no roots in the RHP.
46.
s 2 + 02
K
K
= 0 or s 4 + a 02 +
2
2
2
mT s ( s + a 0 )
mT
2 K 02
=0
s +
mT
s3
K
1/ 2 a 02 +
mT
2 K
a 0 +
mT
K 02 2 K
+ a 0 +
mr
mr
2
2 K
a 0 +
mr
K 02
mT
K
2 a 02 +
mT
K 02
mT
K 02
mT
The second row of zeros was substituted with the coefficients resulting from
K
differentiating the characteristic equation: Qa ( s ) = s 4 + a 02 +
mT
K
Q 'a ( s ) = 4 s 3 + 2 a 02 +
mT
2 K 02
and
s +
mT
Since all the plant parameters are positive, there are two sign changes in the first column
of the Routh array. So there are two poles in the RHP, two must be in the LHP.
47.
K
K
= 0 or s 2 + = 0 . The system has two
2
Ib s
Ib
K
. The arm will oscillate at a frequency
Ib
K
rad/sec .
Ib
48.
1 0 0 0 1 2
s 0 1 0 3 1 4
sI A =
0 0 1 1 1 3
sI A = ( s + 1.1427 )( s 2.5713 1.1245i )( s 2.5713 + 1.1245i )
Hence, eigenvalues are 1.1427, 2.5713 j1.1245 . Therefore, 2 rhp, 1 lhp, 0 j .
49.
Program:
A=[0 1 0;0 1 4;1 1 3];
eig(A)
Computer response:
ans =
1.0000
1.5000 + 1.3229i
1.5000 1.3229I
50.
Writing the open-loop state and output equations we get,
x&1 = x2
x&2 = x2 + 3 x3
x&3 = 3x1 4 x2 5 x3 + u
y = x2 + x3
Drawing the signal-flow diagram and including the unity feedback path yields,
1
1
1
1
1
s
1
x
s
x
c=y
1
-5
-4
-3
-1
Writing the closed-loop state and output equations from the signal-flow diagram,
x&1
x&2
x&3
= x2
= x2 + 3 x3
= 3x1 4 x2 5 x3 + r c
= 3x1 4 x2 5 x3 + r ( x2 + x3 )
= 3x1 5 x2 6 x3 + r
= x2 + x3
In vector-matrix form,
0 1 0
0
x& = 0 1 3 X + 0 r
3 5 6
1
y = [ 0 1 1] x
sI A
s 0 0 0 1 0 s
= 0 s 0 0 1 3 = 0
0 0 s 3 5 6 3
= s 3 + 5s 2 + 9 s + 9
( s 1)
5`
3
( s + 6 )
0
s2
s1
36
5
s0
x2
x3 3 4 5
b =
u1
x1 0
x2 0
x3 1
c =
x1 x2 x3
y1 0
d =
u1
y1 0
Continuous-time model.
ans =
T
a =
x1
x2 x3
x1
x2
x3 -3 -5 -6
b =
u1
x1 0
x2 0
x3 1
d =
u1
y1 0
Continuous-time model.
ans =
Eigenvalues of T
ans =
1.0000 + 1.4142i
1.0000 1.4142i
3.0000
52.
a.
For n = 1, B1 ( s ) = 1
s2
2
c
s2
c2
c2
b.
For n = 2, B2 ( s ) = 1 +
The Routh array is
s4
c4
= 0 or s 4 + c4 = 0 .
s4
c4
s3
s2
c4
4 c4
c4
The second row was originally a row of zeros, the auxiliary equation used was
Qa ( s ) = s 4 + c2 , so its coefficients were substituted with the coefficients of
Q 'a ( s ) = 4 s 3 .
The first column in the array has two sign changes, so the polynomial has two roots in the
RHP and two must be in the LHP.
SOLUTIONS TO DESIGN PROBLEMS
53.
T (s) =
K ( s + 1)( s + 10 )
s + ( 5.45 + K ) s + (11.91 + 11K ) s + ( 43.65 + 10 K )
3
s3
11.91 + 11K
s2
5.45 + K
43.65 + 10K
s1
11 K 2 + 61.86 K + 21.26
5.45 + K
s0
43.65 + 10K
54.
T (s) =
0.7 K ( s + 0.1)
s + 2.2s + 1.14s 2 + 0.193s + ( 0.07 K + 0.01)
4
s4
1.14
0.07 K + 0.01
s3
2.2
0.193
s2
1.0523
0.07 K + 0.01
s1
0.17209 0.14635K
s0
0.07 K + 0.01
S s5
0.6 K + 10 K s 2 + 60.1 K s
s 5 + 130 s 4 + 3229 s 3 + 10 ( K + 2348 ) s 2 + ( 60.1 K + 58000 ) s + 0.6 K
3229
60.1K + 58000
s4
130
10 K + 23480
0.6K
s3
10 K + 396290
s2
7812.4 K + 7540000
0.6K
s1
s0
0.6K
K >0
K < 39629
K < 29908.29;39629 < K
29908.29 < K , or K < 29908.07;
56.
s5
1311.2
1000 (100 K + 1)
s4
112.1
10130
60000K
s3
1220.8
99465 K + 1000
s2
10038 9133.4K
60000K
s1
s0
99465
( K + 0.010841)( K 1.0192 )
( K 1.0991)
60000K
57.
Find the closed-loop transfer function.
G (s) =
63 106 K
( s + 30 )( s + 140 )( s + 2.5)
T (s) =
G (s)
63 106 K
= 3
1 + G ( s ) H ( s ) s + 172.5s 2 + 4625s + (10500 + 63 106 K )
4625
s2
172.5
10500 + 63 106 K
s1
4564.13 365217.39K
s0
10500 + 63 106 K
The s1 line says K < 1.25 102 for stability. The s0 line says K > 1.67 104 for
stability.
Hence, 1.67 104 < K < 1.25 102 for stability.
58.
Find the closed-loop transfer function.
G (s) =
T (s) =
G (s)
7570 Kp ( s + 103)( s + 0.8 )
= 3
2
1 + G ( s ) H ( s ) s + 7570 K p s + ( 785766 K p 3918.76 ) s + 623768 K p
785766 K p 3918.76
s2
7570
623768Kp
s1
785766 K p 4001.16
s0
623768Kp
The s1 line says K p > 5.09 103 for stability. The s0 line says K p > 0 for stability.
Hence, K p > 5.09 103 for stability.
59.
The characteristic equation is given by:
1 106 s 2 + 1.314 109 s + 2.66 1013
1+ K 3
=0
s + 0.00163s 2 + 5.272 107 s + 3.538 1011
Or
s 3 + ( 0.00163 + 1 106 K ) s 2 + ( 5.272 107 + 1.314 109 K ) s + ( 3.538 1011 + 2.66 1013 K ) = 0
The corresponding Routh array is:
s3
s2
0.00163 + 1 106 K
For stability row 2 requires K > 1630 and row 4 requires K > 133.008 . The dominant
requirement being the latter. It is clear also that when K > 133.008 , the first element on
row 3 is positive. So the overall requirement for stability is K > 133.008 .
60.
KC
K
1
C
= 0 or
ms + bs + k K f Ts + 1
2
K f ( ms 2 + bs + k ) (Ts + 1) + K f K C (Ts + 1) K C ( ms 2 + bs + k ) = 0 or
K f ( mTs 3 + ( bT + m ) s 2 + ( kT + b ) s + k ) + K f K C (Ts + 1) K C ( ms 2 + bs + k ) = 0 or
K f mTs 3 + K f ( bT + m ) K C m s 2 + K f ( kT + b ) + K f K CT K C b s + k + K f K C K C k = 0
Substituting numerical values the equation becomes:
5.28 106 K f
1584.78 K f 11700
s2
0.03444 K f 1.8
0.03444 K f 1.8
or
54.3897 K 2f 3421.872 K f + 21060 > 0
or
K 2f 62.9139 K f + 387.206 > 0
or
(K
61.
a.
The Mesh equations obtained by defining clockwise mesh currents are given by
I1 :
+ R I1 RI 2 = V1
sC
I2 :
RI1 + 2 R +
I 2 RI 3 = 0
sC
I3 :
RI 2 + 2 R +
I3 = 0
sC
R
1
sC
R
2R +
0
I3 =
1
+R
sC
R
0
V2 = RI 3 =
V1
0
0
=
R
2R +
1
sC
R 2V1
2
1
2R2
1
3
+ R 2R +
3R
sC
sC
sC
R
2R +
1
sC
R 3V1
2
1
2R2
1
3
2
3
+
R
R
+
sC
sC
sC
V2
1
=
2
V1
1
1
2
1 +
2 +
3
sRC
sRC
sRC
V
R
V1
R
1
= 2 or 2 = 1 = .
V1
R2
K
V2
R1
1
1
=
. Equivalently
2
K
1
1
2
1 +
2 +
3
sRC
sRC
sRC
c.
K
2
1
1
2
1 +
2 +
3
sRC
sRC
sRC
=0
1
1
2
K = 0 or
1 +
2 +
3
sRC
sRC
sRC
1
5
6
+ 2 2 2+
+ 1 K = 0 or
3 3
sRC
s RC
sRC
3
(1 K ) s 3 R3C 3 + 6s 2 R 2C 2 + 5sRC + 1 = 0
The Routh array is given by
s3
(1 K ) R 3C 3
5RC
s2
6R2C2
s
1
( 29 K ) RC
8
1
1
.
2 6 RC
1
.
6 RC
62.
s + 11.7 6.8 61.6 K 7.7 K
3.5
s + 24 66.9 K 8.4 K
sI A =
0
0
s
1
0
10
s
1
3.5 66.9 K
s + 24 66.9 K 8.4 K
det ( sI A ) = ( s + 11.7 ) 1
0 + 6.8 0
s
s
0
10
10
s
1
8.4 K
0
s
3.5 s + 24 8.4 K
3.5 s + 24 66.9 K
0 + 7.7 K 0
s
61.6 K 0
1
1
0
0
10
s
1
1
= ( s + 11.7 ) ( s + 24 )
10
s 0
+6.8 3.5
66.9 K
10 s
0
s
66.9 K
0 s
1 0
8.4 K
0 s
1 10
0 0
1 s
8.4 K
0 10
1 s
0 0
0 1
1 0
61.6 K 3.5
66.9 K
8.4 K
0 s
1 s
1 0
0 s
0 1
1 s
+7.7 K 3.5
( s + 24 )
+ 66.9 K
0 10
1 10
1 0
s3
35.7
840.41K
s2
35.66 K + 304.6
28.92 K 2 + 713.3K
28936.58 K 2 + 230524.08K
35.66 K + 304.6
28.92 K 2 + 713.3K
304.6 + 59.2K
713.3K
1032.57K 2
63.
Yh-Ycat
Spring
displacement
Desired
force
1
100
Input
voltage+
Input
transducer
1
1000
Controller
Actuator
F up
0.7883( s + 53.85)
( s2 + 15.47 s + 9283 )( s 2 + 8.119 s + 376 .3)
82300
F out
Pantograph
dynamics
Spring
1
100
Sensor
Y h-Ycat
Spring
displacement
Desired
force
K
100
1
1000
Controller
Actuator
Fup
0.7883( s + 53.85)
(s 2 + 15.47s + 9283 )(s 2 + 8.119 s + 376 .3)
82300
Fout
G (s) =
Yh ( s ) Ycat ( s )
Fup ( s )
Pantograph
dynamics
0.7883 ( s + 53.85 )
(s
Ge ( s )
Ge ( s )
T (s) =
(s
Spring
0.6488 K ( s + 53.85 )
s4+ 23.589 s3+ 9784.90093 s2+ ( 0.6488 K + 81190.038 ) s + (34.94 K + 0.3493192910)
s4
9785
( 0.3493e7 + 34.94 K )
s3
23.59
( 0.6488K + 81190 )
s2
( 0.0275K + 6343)
( 0.3493e7 + 34.94 K )
K < 230654
99971 < K
s1
( 0.3493e7 + 34.94 K )
s0
The last column evaluates the range of K for stability for each row. Therefore
99971 < K < 188444 .
64.
The characteristic equation is given by
1+ K
520 s 10.3844
=0
s + 2.6817 s 2 + 0.11s + 0.0126
3
or
s 3 + 2.6817 s 2 + 0.11s + 0.0126 K ( 520 s + 10.3844 ) = 0
or
s 3 + 2.6817 s 2 + ( 0.11 520 K ) s + ( 0.0126 10.3844 K ) = 0
s3
0.11 520K
s2
2.6817
0.0126 10.3844K
0.2824 1384.1K
2.6817
0.0126 10.3844K