33. For the rotational system shown in Figure P2.19, find the transfer function, G(s) = 62(s)/T(s). [Section: 2.7] Reflecting all impedances to 02(8) {boa Yon BS Je Lon Pen yh [x YY} 0200-19 Substituting values, {[rv2arsiott ) Jes Lesicraatd Jo 04) } 0009-119) ‘Thus, 2s) 3 Ti) ~ 207134 34, Find the transfer function, G(s) = 6(s)/T(s), for the rotational mechanical system shown in Figure P2.20. [Section: 2.7] 1000 N-m-srad Ny=25 20 ks} F NS 0 250 Nerw/ead M. * Reflecting impedances 19. [05520 8) fone 3 28) fs0 {5 -(29rn Thus, Boy ___10_ 1300s" + 4000s + 550 85 Ms)35. Find the transfer function, G(s) = 6s(s)/T(s), for the rotational system shown in Figure P2.21. [Section: 2.7] Tu) Ao, (P3!) 96 N-m-sirod cr einfte Ge Ox!) Ox) “ 4 Nam/nad / 35. Reflecting impedances and applied torque to respective sides of the spring yields the following ‘equivalent circuit: 4T 2 Nem/ra 0.988 N-msecirad ‘Writing the equations of motion, 202(s) -2 83s) = 4231T(s) -202(s) + (0.985s+2)@a(s) =0 Solving for @3(s), 2 4.2317(s) 0 8.4627 (s) _ 4.437(s) 2 2 191s s 2 (0.955s+2}] treme, 20) 443 yu. 9,(5) —0.19204(s) Tus, 6) _ 0851 Ts) s Ts) s36. For the rotational system shown in Figure P2.22. find the transfer function, G(s) = 1 (s)/T(s). [Sec- tion: 2.7] 2Newsirad 3N-miead mess Lf) em PF 00 fo s0 een mewof Fr 004 Nanshaal | Ea 30. Rellecting impedances and applied torque to respective sides of the viscous damper yields the following equivalent circuit: 4x00) ax) oy) Cpe oe t_ HCE a ‘Writing the equations of motion, (s° +25)0,(s) = 250,(s) =37(3) -2s6,(s) +(28+3)0,(s)-34,(s) =0 —30,(s)+(s+3)0,(s)=0 Solving for 0,(s), \s(s+2) 2s 37s) 2s (2543) 0 4 0 30 187(s) * s(s+#2) -2s 0 | s(2s*+9s+6) 2s (2543) 3 0 3 (s+3)| But, 0,(s) =56,(s). Hence, AAs) 90 T(s) s(Qs*+95+6)37. For the rotational system shown in wileyouus Figure P2.23, write the equations of motion from which the transfer fune- Control Solutions tion, G(s) = #1(s)/T(s). can be found. [Section: 2.7] Te) 640) Ns Js [+] Reflect all impedances on the right tothe viscous damper and reflsct all impedances and torques on the ” le sings agent T, 16 2 Dien ap K ‘Writing the equations of motion, e932 +K0218)-KO9(2)=Tegls) -KOq(0)+(De¥K)B9(5) Dale) = 0 -DsO215)+Ldogs? (D*Daq)s1Oa(9)=0 wre Seg= 24AHD(RE ) stnag=sHOLHNGRE Ys Day= LEE)” ts) = 0119 NL N 38. Given the rotational system shown in Figure P2.24, find the transfer function, G(s) = 66(s)/0(s). [Scction: 2.7] an a M | dg My Mn as vf] ho38. Reflect impedances tothe left of Js to Js and obtain the following equivalent circuit a T #6 ero(ss 85 Je D Deq TOG Keq Kz Writing the equations of motion, [egs*+(Deg*D)s+(K2+ Kea) ]05(8) {Ds-Kz]O6(s)= 0 {Ky*Ds]05(s) + Jgs2*2Ds+K ]0 515) = 1s) Sal) _ Jeg ag Ds Ka) From the first equation. 5) = 0) _ a (dow a) ) by) “NaN Ds ? att) Kea Kil awter Jaa [RENE ) +2100 Da DIGRE) + GE) + 39, In the system shown in Figure P2.25, the inertia, J, of radius r, is constrained to move only about the station- ary axis A. A viscous damping force of translational value f, exists between the bodies J and M. If an external force. flt). is applied to the mass, find the transfer function, G(s) = 6(s)/F(s). [Sections: 2.5; 2.6] bseppliel force de rotating member ‘surtaca yleety |» tyStrocer) fo Fe ro «s) & Sono . seat Ca Mme Lo toroe Write the equations of motion from the translational and rotational freebody diagrams, (Ms?+2fy siKa)X(s)_—-frs0(s) =Fis) -fsX(9) (U2+6,23)8(8) =0 Solve for 8(s), fr) (3) - STO IMS*+(24#ME,P)S*4UK HRP )stK 7 Sys tees fe From which 2S) “RNG ARE ES - 40, For the combined translational and rotational sys- tem shown in Figure P2.26, find the transfer func- tion, G(s) = X(s)/T(s). [Sections: 2.5; 2.6; 2.7] Ti) ™ €) skemt y, N2=20 Da=1 Nem-sirad T xp) 2N-s/m|+|B 3.N/imDraw a freebody diagram of the translational system and the rotating member connected to the translational system, Jeq2, F(s) Teg is the seine e49s'e(s) | applied torque, T Tegls) eq \ J pene M Sinn Tt 4 Feopposing force from translational system 28x(s) 3x(s) 29°x(s) From the treebody diagram ofthe ms, F(s)=(282+25+3)X(s). Summing torgues on the rotating rmenber, (eas? +D,q048) +F(s)2= Toy()-Subsituing Fs) above Ses? #Degs)O(8)+ 42+4546)X(5)= %£2 subsitutng and simplifying, Te [FE ae CB aso] (T(s). Therefore, Teq(s). However, 9) 5, and Teas) But, Jea=343(4)2=S1, Deg = 10 +1 9 13 Xi 8 2+ 8 sso]x =aT%s) Final, $22 - —__* __ [8 ty seh ate Fiat. 18) ~ Sera aD 41. Given the combined translational and rotational system shown in Figure P227, find the transfer function, G(s) = X(s)/T(s). [Sections: 2.5; 2.6] Tw Radius aWriting the equations of motion, is?+K BUG) -K 0218) is) -K,04(3) + Jps2+D,5*K,)02(9)+FG)r_-Dss03(s) =0 D3302(5) + (as*+D35)0365) ‘where F(s isthe opposing free on J» due to the translational member andr isthe radius of 2. But, {or the translational member, Fls) = (M2+f.s 2X5) = (MPH SK210(5) Substituting F(s) bac into the sosond equation af motion, (12K P16) -K,0269) =o) “Ki 016s) + [0+ MP S?HDs + fr7)sH{K1 + Kar7)]02(8) =D 03(8)=0 -Dys0(s)+ 0332+D38)035) = ‘Notice that the translational components were reflected as equivalent rotational components by the quar of te rains. Solving for Oh, 0,(s) = SZ ST ITS) where Ais the determinant formed from the coefficients of the three equations of motion. Hence, Os) _ Ks" +D.s) TMs) A since XG) = 1046), TD PRS + DS) 7s) a 42. For the motor, load, and torque-speed curve shown. in Figure 2.28, find the transfer function, G(s) = 41(s)/Eq(s). [Section: 2.8] Ny =50 Di ov oT @(adls)a2, Ki _ Tous _ 100 _ £501 RE, 0 Ox ng 1503 Also, 2 2 In=SH9(3) =: =¥36(4) = 12, Ths, O6) 2/7 2/7 ED) oer d rey) (+38) sls p(D +) sls+57) Since OL(s)= = Ons) Ofs)___ 1 £0 045) 43. The motor whose torque-speed characteristics are shown in Figure P2.29 drives the load shown in the diagram. Some of the gears have inertia, Find the transfer function, G(s) = 62(s)/E,(s). [Section: 2.8] +f M=10I QO) EL) de enna s{s+0.75) 1 4) _ EJs) s(s+0.75) 44, A de motor develops 55 N-m of torque at a speed of 600 rad/s when 12 volts are applied. It stalls out at this voltage with 100 N-m of torque. If the inertia and damping of the armature are 7 kg-m* and 3 N-m-s/rad, respectively, find the transfer function, G(s) = @;(s)/E,(s), of this motor if it drives an inertia load of 105 kg-m? through a gear train, as shown in Figure P2.30. [Section: 2.8] xO) «| Motor -—>— Mi = 12a4, “The following torque-speed carve can be drawn from the data given’ T 100 s v ‘ooo 133333 K,_ Tay 100 E, 12 1p Ki. Toa 100 EL =7+105(4 - Therefore, Roe 8 3” as ‘Also, Jn m105(5) 925 Du 3.Thus, 2.6) . 1, Os) 0.14 Seb). NF 19.97 08 Since t10)= + yi, AEP = 0-14 EO) s+ Gas) +03) 6 EG) s(e+031) (545 95 8.079) 45. In this chapter, we derived the WileyPUus transfer function of a de motor 73 relating the angular displace- Contra Solutions ment output to the armature voltage input. Often we want to control the out- put torque rather than the displacement. Derive the transfer function of the motor that relates output torque to input armature voltage. [Section: 2.8] 45, From Eqs. (2.45) and (2.46), Rall) * Rost ~ Eo) 0 Also, Ti) ~ Kiel) = (Jns™Dus)) Solving for Os) and substituting into Ea, (I), and simplifying vies 2 Using T/s) = Kila(s) in Eq. (2),46. Find the transfer function, G(s) = Xe) (s), for 46. the system shown in Figure P2.31. ms: 2.5-2.8] D=1N-msind Ideal — i gear: Forthe ave: re Jy = 1 kgm? x) D, =1 Nemsirad 1 R= Naim Ky =1V-sirad Ky =1N-wWA Forthe rotating loud. assuming al inerta an damping has been reflected tothe ea, (gq 32-Degt (0)* Fist = Taf, where Fs) ithe face fom the tanto system, 28 the radius ofthe rotational member, Jeg. isthe equivaleet nei atthe fa of the rotational load and thearmature, and Daal isthe equivalent damping athe load of he ational oad and he armture nce let = H2)?41=5, and Daye = HOF + + HG)r= Tel). Fr the transational sytem, (2+5)15)=1 the equation of motion becomes, (SS2+55)0L(3) (8) Since X(3)=26(8), Fs)= (25)20,(6), Substnting Fs) into the rostional equation, (929s) (6) = Tog()- Thus, the avivalet inn atthe lon is 9, nth cquivalet damping tthe load is 9. Rflsting tes ack to the armature, yields an equivalent inertia of and an equivalent damping of. Finally. 4 ey Xs) s 7,0 «> X(6)=r{9) = 20145). therefore, 47, Find the series and parallel analogs for the transla- tional mechanical system shown in Figure 2.20 in the text. [Section: 2.9] 1000 Nese J aie? Mes exo 290 N-mvrad_a. ‘The equations of motion in terms of velocity are: [Ms ++ fa) + (3) VAs) =0 21K(s)~ 72 roy4 Las Ut ad +S) ~ Falls) = F8) —faVils)— fats) +1Mis + fir + Lali(S) = 0 For the series analogy, treating the equations of motion as mesh equations yields In the circuit, resistors are in ohms, capacitors ar in farads, and inductors are in henries. For the parallel analogy, treating the equations of motion as nodal equations yields Ms vx te “0 Mies faxes Miz wag mi mo) wh Wiga M375 In the circuit, resistors are in ohms, capacitors ar in farads, and inductors are in henries.3. Find the state-space representation of the network shown in Figure P3.3 if the output is v,(0). [Section: 3.4] o 19 volt) Let C; be the grounded capacitor and C > be the other. Now, writing the equations for the energy storage components yields, a ‘Thus the state vector is X =| v,, |. Now, find the three loop currents in terms ofthe state variables ‘and the input, Writing KVL around Loop 2 yields v7 =FHI HVA VG HM ‘Substituting the loop currents in equations (1) yields the results in vector-matrix form, 4, Represent the system shown in Figure P3.4 in state space where the output is.x3(r). [Section: 3.4] fgctton es pe Ms = The, faa Nam age am = fasussm | [pte as | fe Mya tke z J a(n Fionn 0 4 Equations of motion in Laplace: (28? 43s +2)X,(s)-(5+2).44(s)-sX4( Hs + 2).X (0) (6? #2542)X4(6)=54(9) = FG) 8X (s)—sX ys) (82 +39) Xy(s)=0 Emotions of motion inthe ine domain @x, de, de, de, 38. ds, 42x, -S2y, at at dt Define state variables:wy @ 6) 4 6) (0) a @) 9) ‘Substituting Pgs. (1) trough (6) nto the equations of motion inthe time domain aa solving forthe derivatives of the sate variables and using Bs. (7) through (9) yields the sate equations: S|A S|A S| SLPS |f S| o 1 0 000 0 -1 -15 1 05 0 05) j0 zi? 9 O 10 OF, Jol 2 1 2201 1 o 0 0 0 O11 0 o 1 0 1 0 3 05. Represent the translational mechanical system shown in Figure P35 in state space, where x,(¢) is the output. [Section: 3.4] Writing the equations of motion, (2s? +28 +D.ay(s)—s¥2(s)—(9+ DAXG(s) =0 HsXi(s) +(s? +28 + AAs) (s+ DXG(s) 0 As 4X (5) (64 )Xy(s) +(e +22 +2)X (8) = F(6) Taking the inverse Laplace transom, Wet 2atx, yyy <0 abet lapta; —ayox, 20 whan eheriern =r Simplifying, geal lel TAT DENTS 5 tute aaty tata lyn + (0) Defining the state variables, Writing the state equations using the simplified equations above yields,ro Here 0 0 11 y=[1 0 00 0 ojz 66. Represent the rotational mechanical system shown in Figure P36 in state space, where 6,(¢) is the roe wf 8 rare 100 N-mvrod 100 N-msirad Drawing the equivalent network, 333 OOH “100 kgan® |: } am ‘7 100 Nem frad 100 N-m seovrad Writing the equations of motion, (555.565? +100), -1008, =3.337 —1009, + (100s* +1005 +100)4, = 0 Taking the inverse Laplace transform and simplifying,-0,+6,+5,+0, =0 Defining the sate variables as 17 By By = By m= 8 ‘Writing the state equations using the equations of motion and the definitions ofthe state variables 2 =, =-0.180, +0.180, + 0.0067 =-0.18x, +0.18%, + 0.0067 5-8-0, 0,8. -m mm y =3.330, =3.33x, In vector-matrix form, o 1 0 0 ° + |-0.18 0 0.18 0] | 0006 xe xe o 00 1 0 104 4 0 y=[33 0 0 Ojx Tr 7. Represent the system shown in Figure P3.7 in state space where the output is #,(0). [Section: 3.4] Ni=30 2N-mfod 3 N-mestad OE = 10 ge 100| ou) 200 N-m-siad reDrawing the equivalent cieui, A Aega (ee. (Reve Geom |, 4 EI s00m eer Writing th equations of metion, 120, )-20(6)= 10716) —20,(s)+ Bs +2)6,(s)-330,(s) = 0 30,8) +550,(5)=0 Teking the inverse Laplace transform, 120,()-20,0)=10T1) ” -20,(1)+36,(0) +20, -36,(0) =0 @ -3.B(i)+ 56,(e)-0 @) From@). fy 8 5 AHS (0) and 050) 3 Ae # assuming inal contons. From (1) Boo A one 8 0,0) = 20,0) = 2710 = S0+270) 6 Substituting (4) and (5) into (2) yields the state equation (notice there is only one equation), ; Bon, AO -—TgAl+ GT) Thocutpet equation is given by, a.()= LO.) ‘8. Show that the system of Figure 3.7 in the text yields fourth-order transfer function if we relate the displacement of either mass to the applied force, and a thitd-order one if we relate the velocity of either mass to the applied force. [Section: 3.4] fH antTins, XG K Fs) MyM\s'\DMqs 0K Mys 3K Ms 3D Ke sae My: 24D stk FG) Maa ys3*D Mas'+K Mas 4K Mis 3D Ks ‘Mauitiplying each of the sbove transfer functions by sto find velocity yields polezero cancellation at the origin anda resulting transfer function that is third order. 9. Find the state-space representation — weyrus in phase-variable form for exch of the systems shown in Figure P3.8. oat ets [Section: 3.5] oo io ow D084 107s Tes 100 Ro) 30 os) | SiatroPrarsrea0 ~ a FIGURE 93.8 o a. Using the standard form derived inthe textbook, ro 1 0 07 fo ~ 10 0 1 of Jol lo 0 0 1 Ror [+100 -7 -10 20) 1) e=[100 0 0 of 1. Using the standard form derived in the textbook, ro 1 0 0 07 10) 0 1 0 of Jol 0 0 1 okslobe oo o 1! ‘ol x0 1-0 9 -s| Li B00 0 0 Of 10, Repeat Problem 9 using MATLAB. [Section: 3.5)Aretiapud mes) | Beeiinie ae) Bortipad Bee) Gletipte lees) Gens[1'8 5 62 3017 EES (nom cen) [AecyBee} Cory Dec]-tE2as (many den) ¢ Arselipsd acs aeruipic (az) Befipodisee) ceruipte ice Computer response: 100 1 o o o 1 mo 0 «© 0 611, For each system shown in Figure P39, write the state equations and the output equation for the phase-variable representation. [Section: 3.5] 26) ee Free ow @ 83) [ateane este | ORs TERE o un a. Using the standard form derived in the texthook, . Using the standard form derived in the textbook, 01 0 0 0} fo _/00 1 0 0} 0 x=|0.0 0 1 0|xs/0ln(e) 000 0 1| 0 00 8 -13 1 e-[6 7 12 2 Ix 12. Repeat Problem 11 using MATLAB. [Section: 3.51 2 Program: pune (@ 1017 Ger=[1 515 13] Gate (nam, den) Ace, Bee, Cee, Dec]=t 255 (num, den) 7 Aeselipud Ace! 7 Beflipir (Re) #1ipud (Eee) catiipircec) mo nume{2 2.12 7 613 der=[1 913 80 0} Gots (nam, den) Ace, Bee, Cee, Dec]=t 285 (num, den) 7 Agselipud ince)? Aeflipir (Re) Beflipsd Bcc) cafiipir (cee)Transfer fonction: Pesto Parseysegsses 13 As o 1 0 6 o o 2 ¢ 30-5 ls « 1 woe 0 0 109 1 8 9 Oo 6 ore 20 13. Represent the following transfer function in state space. Give your answer in vector-matrix form. [Section: 3.5] __ +348) 18) = Tess)1B ‘The transfer fusetioncan be represented as ablock diagram as fllows: 6) 1 a9) Yo | er vores P) 843547 Wing the diferent equation for the fst box: F464 10+ 5x=r(), Defining the tute variables: 4 =-Sx- 105-644 r(0 Sx, —10x, ~6r, +r(t) From the second box, yois3i+8r=8x,+3n, +3, 0 1 0] fo 0 0 1 |x+ or s 10-6} [1 is 3 Js In yoctor matric form 44, Find the transfer function G(s) = ¥(s)/R(s)_ for each ofthe following systems represented in state space: [Scotion: 36] ‘oe o 1 Oo 0 i=] 0 0 1fxt+] ofr “3 <2 5 0 y= 0 Ox 1 4], 6 3-5 2 s ex=| 1-8 7]et] a} 3-62 24 8 Gop cerayle 10 Therefore, G09) Te b.Gis-CorayB, 3425-32 35-6 Bets? -8eH49 ase # “herfore.G (@)= $28 =39sH452 & G(s-CEAy f3 5 2] [sl A=|1 -8 7b B-l- ls 2) La} [is +6s+26) -(5s+2) Qs-19) 1 a! 5-23) (58412) 5-19) | SF RFISI) C5,430) (66-33) (© 458-19), =f -4 3] (I-ay' = 23s" — 488-7. ‘Therefore, G(s)~ Pais 3 15, UseMATLAB tofind the transfer waa function, G(s)=¥(s)/a(s), for each of the following systems represented in state space: (Section: 3.6] * paeaN=O; statespacesss (A, ByCyD) [nun,denj=ss20f(A,B,C, 0); Fem, den) Ln 28-7 6-3-4 0-60 4-3 Ie De0; Computer response: aT 370 Boo 10 Bott Bod 3 5a ms ao xt a noo continuous-time model. Transfer function: Ged 96 8°2 2351 = - 200 ede 3e3+2s24 Mee a 3 T94 2 3053 21 mo i iG Mot 6 3-4 0 a a 2 a mS en DTS as nD TESs°4 262 2°3 + 1680 2°2 + 10280004 © + 3.1886004