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1. The DC motor in the figure is driven by a voltage source V through a switch, which can be opened and
closed. The motor internal coil resistance is modeled by the resistor R as shown. The motor itself is ideal and
described by the relations = Ki, and e = K, where is the torque applied to the load, and is the motor
speed. The load consists of a rotary inertia J, and a rotational damper b.

a. Derive the differential equations describing the system for the closed switch. Then find the transfer
function G(s) between the input voltage V and output speed .
b. From now on take G(s)=(s)/V(s)=100/(2s+1), V=10 Volts. Suppose the system is initially at rest.
At t = 0 the switch is closed. Solve for the resulting rotor speed as a function of time, and write an
expression for (t) in terms of the system parameters. Make a sketch of (t).
c. After the switch has been closed for a long time, the switch is opened. Lets call this opening time t1.
Solve for the resulting rotor speed as a function of time for t > t1, and write an expression for (t) in
terms of the system parameters. Make a sketch of (t).

2. An elementary magnetic suspension scheme is shown in the figure. For small motions near the reference
position, the voltage e on the photo detector is related to the ball displacement x (in meters) by e = 100x.
The upward force (in Newtons) on the ball caused by the current i (in Amperes) may be approximated by f =
0.5i + 20x. The mass of the ball is 20 grams, and the gravitational force is 9.8 N/kg. The power amplifier is a
voltage-to-current device with an output (in Amperes) of i = u + V 0. V0 voltage is to balance the weight of
the ball.

a. Write the equations of motion for this setup. Dont neglect gravity.
b. Give the value of the V0 that results in the ball being in equilibrium at x = 0.
c. What is the transfer function betwen the input u to output e?

3. A model of a commercial rolling machine is shown below. The model is a cylinder with a mass, m, with a
radius, r =0.5 m, that spins about an axle. The cylinder rolls without slip on the lower surface. Attached to
the axle housing are a damper c; a spring, k = 200 N/m, and a force source f. In testing the machine, we
impose a step on the force source f, and measure the response for the horizontal motion of the axle x.

Using the given parameters and the measured step response in figure:

a. Draw the free body diagram of the mass/inertia, and determine the equation of motion for x(t).
b. From the data determine the damping constant, c, and the equivalent mass, m eq, where meq is mass
equivalent of the combined rotational inertia and linear mass.
c. If the cylinder has a m = 3 kg, determine the inertia of the cylinder.

4. The figure below shows a large stage with mass M (kg) driven by a hydraulic piston. The hydraulic piston
is driven by a pressure source P(t) (N/m2) with a volume flow Q(t) (m3/s) The piston has a force/pressure
relationship of F=PA, and thus Q = A .

a. Derive the differential equation for this system in terms of an input P(t) and an output x(t).
b. Given M=5000 kg, K=250,000 N/m, B=75,000 N*s/m, and A=0.1 m2 find the transfer function from the
pressure input P to flow output Q.
c. The system has been held in equilibrium with P 0 = 500 kPa = 500,000 N/m2 when the pressure is
removed suddenly at t=0. That is, P(t)=P0(1-us(t)). (us(t) is the unit step function) If :

X (s) 0.1

P ( s) 5000s 75000s 250000
find and roughly plot x(t). Hint : Determine spring displacement x0 corresponding to P0 and then use
it as an initial condition for the solution.