PROBLEMS B-344, Simplify the block diagram shown in Figure 3~T1 ‘and obtain the closed-loop transfer function C(s)/R(s). 9 as & Lt @-% Lire Figure 371 Block diagram of a system, fc) B-3.2, Simplify the block diagram shown in Figure 3-72 and obtain the transfer function C(s)/R(s): B-3- Simplify the block diagram shown in Figure 3-73 and obtain the closed-loop transfer function C(s)/R(). co) Figure 372, Block diagram of a system. 6-6 igure 3-73 Block diagram of a system. 146 Chapter 3. /- Mathematical Modeling of Dynamic SystemsB-3-4, Consider industrial automatic controllers whose contol actions are proportional, integral, proportional-plus- integral, propoctonal-plus-dervative, and proportional-ps- integral-plus-desivative. The transfer functions of these controllers ean be given, respectively, by where U(e) isthe Laplace transform of u(t), the controller output, and £(s) the Laplace transform of e(r), the actuat- D9 ing error signal. Sketet u(e) versus ¢ curves for each of the five types of controllers when the actuating error signal is (a) e(¢) = unit'step function (b) (0) = unit-ramp function In sketching curves, assume that the numerical values of K,, KT, and T, are given as K, = proportional gain = 4 integral gain = 2 7, = integral time = 2 see Ty = derivative time = 08 see “B-3.S, Figure 3-74 shows a closed-loop system with a ref erence input and disturbance input. Obtain the expression for the output C(s) when both the reference input and dis turbance input ate present. B-3-6, Consider the system shown in Figure 3-75. Derive the expression forthe steady-state error when both the ref erence input R(s) and disturbance input D(s) are present. 8-3-7. Obtain the transfer functions C(s)/R(s) and (s}/D(s) of the system shown in Figure 3-76. Figure 3.74 Close 109 system, vn fo) 2) oo SQ Haw {cr ~ gare 3275 Control system. D8) & “2 q a 0) Figure 3-76 Control system. Problems a Me 147B-S8, Obtain a state-space representation of the system B-3-14, Obtain mathematical models of the mechanical shown in Figure 3-77, systems shown in Figure 3-79(a) and (b). +S-| p—> = (Oup) Mo > copa free) Figure 3-77 Control system, Noficta a B-3-9, Consider the system described by yay +25 Derive a state-space representation of the system. (> <(Oupen ~ B-3-10. Consier the system described by nas) a) [4 As], Pt (21-(6 sI)-C} a yeu of] © ; Figure 3-79 CObiin he tester function ofthe eytem Mechanica systems SUL Consider system defined by the following sate oe B-I-18, Obtain a state-space representation ofthe me- (21-3 2E1- Ek tebpi ad yan pawteoepe 34 5 yt af] Hille Obtain the transfer function Gs) ofthe system, B12. Obtain the transfer matric ofthe system defined by FE JE) we b [-B a3] Ba. Chel koi vino con coin ba ofthesjom shorn in Pes 38 af Figure 3-80 Mechanical system, B-3-16. Consider the spring-loaded pendulum system shown in Figure 3-81. Assume thatthe spring foree acting on the pendulum is zero when the pendulum is vertical, or ¥ — @ = 0, Assume also that the friction involved is negligible Figure 3-78 and the angle of oscillation @ is small. Obtain a mathemat Damper system. cal model of the system. 148 Chapter 3 / Mathematical Modeling of Dynamic SystemsFigure 3-81 Spring-loaded pendulum system. B-3-17, Referring to Examples 3-8 and 3-9, consider the inverted pendulum system shown in Figure 3-82. Assume that the mass of the inverted pendulum is m and is evenly distributed along the length of the rod, (The eenter of grav ity ofthe pendulum is located atthe center of the rod.) As suming that 9 is small, derive mathematical models for the system in the forms of differential equations, transfer func tions, and state-space equations , ¥ Figure 3-82 Inverted pendulum syst B-3-28. Obtain the transfer functions Xy(s)/U(s) and X4(s)/U(s} of the mechanical system shown in Figure 3-83, wk, , iT m Dern Doma Figure 3-83 B-3-19, Obtain the transfer function £,(s)/B,(s) of the electrical circuit shown in Figure 3-84 igure 3-84 Electrical circuit. 1B-3-20, Consider the electrical cireuit shown in Figure 3-85. ‘Obtain the transfer function £,(s)/E;(s) by use ofthe block diagram approach. Figure 3-85 Electrical circuit. B-3-21, Derive the transfer function of the electrical cit- cuit shown in Figure 3-86, Draw a schematic diagram of an analogous mechanical system. Figure 3-86 Blectrical circuit, 149B-3-22. Obtain the transfer funetion £,(s)/E{s) of the cop-amp circuit shown in Figure 3-87, o_o Figure 3-87 Operational-amplifier circuit. B-3-23. Obiain the transfer function E,(s)/Ei(s) of the ‘op-amip circuit shown in Figure 3-88, ¢ 4 os Figure 3-88 Operational-ampliter circuit. [B-3-24, Using the impedance approach, obtain the trans- fer function £,(s)/6(s) of the op-amp circuit shown in Figure 3-89. [B-3-25. Consider the system shown in Figure 3-90. An armature-controlled de servomotor drives a load consisting fof the moment of inertia J). The torque developed by the motor is 7: The moment of inertia of the motor rotor is Jy. ‘The angular displacements of the motor rotor and the load clement are 8, and 8, respectively. The gear ratio is ‘n= 6/0, Obtain the transfer function (s)/E(s). igure 3.90 Ammature-controlled de servomotor system. 150 Chapter 3. /- Mathematical Modeling of Dynamic Systems[B-3.26, Obtain the transfor function ¥(s)/X(s) of the sys- tem shown, in Figure 3-91 Figure 3-91 Signal flow graph of a system. B-3.27, Obtain he transfer function V(s)/X(s) of the sys tem shown in Figure 3-92 Figure 3-92, Signal flow graph of a system. Problems: B-3-28, Linearize the nonlinear equation 228 + Bry + 37 in the region defined by 2 = x = 4,10 = B-3-29, Find 8 linearized equation for = 022 about a point x = 2 151