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MECH3418 Dynamics and Control Page 1




MECH3418 Dynamics and Control

Continuous Assessment

Submission deadline: 5 pm, April 28, 2016.

Please submit your solutions with your Name and Student ID clearly stated to the
General Office (7th Floor, Haking Wong Building).

The students are expected to work independently on this assignment, i.e. WITHOUT

Answer ALL THREE questions.

Please keep a copy of your solutions. The submitted work will NOT be returned.
MECH3418 Dynamics and Control Page 2

1. (a) Find the range of K for which all the roots of the following polynomial are in
the LHP (left-half-plane):

s5 + 5s4 + 10s3 + 10s2 + 5s + K = 0.

(6 marks)
(b) The rotational velocity of a satellite is adjusted by changing the length of the
beam L. The transfer function between (s) and the incremental change in beam
length L(s) is
(s) 2.5(s + 2)
= .
L(s) (s + 5)(s + 1)2
If the beam length change is L(s) = 1/(2s), then determine the response of the
velocity (t) due to the beam length change and its steady-state value.
(7 marks)
(c) For the closed-loop system shown in Figure Q1(c), G(s) and D(s) are, respec-
tively, the transfer function of the system and the controller, R(s) is the reference
input and Y (s) is the output of the system.

Figure Q1(c)

100 K
Let G(s) = and D(s) = . Specify the gain and pole location of the
s + 25 s+a
controller so that the closed-loop response to a unit-step input has an overshoot of
no more than 25%, and a settling time (2%) of no more than 0.1 sec.
(12 marks)

MECH3418 Dynamics and Control Page 3

2. The equations of motion for a DC motor shown in Figure Q2 are given as

K t Ke Kt
Jm m + b + m = va .
Ra Ra

Figure Q2
Assume that Jm = 0.01 kgm2 , b = 0.001 Nmsec, Ke = 0.02 Vsec, Kt = 0.02
Nm/A, and Ra = 10 .
(a) Find the transfer function between va (the applied voltage) and m (the motor
(6 marks)
(b) What is the steady-state speed of the motor after a voltage va = 10 V has been
(6 marks)
(c) Find the transfer function between the applied voltage va and the shaft angle
m .
(6 marks)
(d) Suppose feedback is added to the system in 2(c) so that it becomes a position
servo device such that the applied voltage is given by
va = K(r m ),
where K is the feedback gain. Find the transfer function between r and m .
(6 marks)
(e) What is the maximum value of K that can be used if an overshoot Mp < 10%
is desired?
(10 marks)
(f) What values of K will provide a rise time of less than 5 sec? (Keep the Mp
(6 marks)
MECH3418 Dynamics and Control Page 4

3. (a) The feedback gain in Figure 3(a) is subject to variations. Design a controller
for this system so that the output y(t) accurately tracks the reference input r(t).

Figure Q3(a)

(i) Let = 1. You are given the following three options for the controller Di (s):

kp s + kI kp s2 + kI s + k2
D1 (s) = kp , D2 (s) = , D3 (s) = .
s s2
Choose one of the three controllers (including particular values for the con-
troller constants) that will result in a stable Type 1 system with a steady-state
error to a unit reference ramp of less than 10 .
(7 marks)
(ii) Next, suppose that there is some attenuation in the feedback path that is
modeled by = 0.9. Find the steady-state error due to a ramp input for your
choice of Di (s) in 3(a)(i).
(7 marks)
(iii) If = 0.9, what is the system type for 3(a)(ii)? What are the values of the
appropriate error constant?.
(7 marks)

(b) Consider a second-order system that models the position control of a DC motor

Gp (s) = .
s(s + 2 o o )

We now close the loop with negative unity feedback.

(i) With proportional control (KP ), what is effect on the natural frequency and
the damping ratio? (7 marks)
(ii) With proportional-plus-derivative control (KP + sKD ), what is effect on the
natural frequency and the damping ratio as compared with purely proportional
control? (7 marks)