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Aerospace Systems

Mechanical and Aerospace Engineering

Spring 2015

Homework 2

1) Use block diagram manipulations and simplifications to derive the closed-loop transfer function,

() = ()/() for each of the following systems. Show your work, including all intermediate

simplified block diagrams, along with explanations of the simplifications you make.

a)

b)

c)

2)

Create a signal flow graph for each of the block diagrams from problem 1, and then use Masons

rule to determine the closed loop transfer function for each system.

+ +

a) Determine the motors transfer function from the input voltage to the shaft speed:

() =

()

()

() =

()

()

b) Determine the motors transfer function from the input voltage to the shaft position:

c) Add position control to the motor in the form of unity feedback with a controller gain of .

Draw a block diagram for this closed-loop system, and determine the closed-loop transfer

function from the reference input to the motor position:

() =

()

()

For the remainder of the problem, use the following system parameter values:

= 0.01 2

= 0.001

= 0.02

= 10

d) Determine the requirements on the controller gain, , such that position overshoot is limited to

% 15%.

e) What value of gain, , will yield a risetime of 12. What is the overshoot at this value of

gain?

4) This problem examines the concept of dominant system poles, and the relationship between the

real parts of poles and their relative effects on the system response.

Consider the following third-order system, consisting of a pair of underdamped poles and a single

real pole

() =

2

( + )( 2 + 2 + 2 )

where

() = 1 + + sin( )

=

=

2

2 2 + 2

(2 2 + 2 )(1 2 )

= tan1

1 2

1 2

+ tan1

a) What is the approximate step response when gets very large? That is, as the frequency of the

real pole gets very large, and that pole moves very far into the LHP.

b) What is the approximate step response when gets small? That is, as moves toward the origin

in the LHP.

c) Now, let = 1 and = 0.7. Additionally, express the value of the real pole as a multiple of the

real part of the underdamped poles: = . Use MATLAB to generate step responses for a

range of values to help answer the following question. How large must be for the

underdamped poles to dominate the system response, and for the effect of the single real pole

to be negligible? What youre determining here is roughly how much higher in frequency a pole

must be (i.e., its real part) for it to have a negligible impact on system response.

The details of your MATLAB plot are left up to you. Choose the values of for which you plot

responses, and the overall plot formatting to best communicate an answer to the questions

above.

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