Answer Tutorial 3 & 4

Teaching Modul: Control System Theory

Tutorial 3 & 4

1. Find transfer function, G(s) = VL(s)/V(s) for the circuit given

Answer:

Mesh Equations:
 Answer Tutorial 3 & 4
Teaching Modul: Control System Theory

2. Draw the free body diagram (FBD) of the system by showing all the forces acting on
the system. Then write all equations of motion related to the system.

Answer:

3. Find the transfer function, G(s) = X2(s)/F(s), for the translational mechanical network
shown below.

Answer:
 Answer Tutorial 3 & 4
Teaching Modul: Control System Theory

Equation of motion:

( s2 +1 ) X 1 ( s )−X 2 ( s )=F ( s )
−X 1 ( s ) + ( s2 +1 ) X 2 ( s )=0

Using cramer’s rule

s2 +1 F(s)
X2
=
| −1 0 |= 1
2 2
F ( s) s 2+1 −1 1−( s +1)
| −1 s2 +1 |
Thus,
X2 1
= 2 2
F ( s) s (s + 2)

4. Find the transfer function, G(s) = θ2(s)/F(s), for the rotational mechanical network
shown below.

Answer:
 Answer Tutorial 3 & 4
Teaching Modul: Control System Theory

5. Write the equation of motion and find the transfer function of G(s )=θ L (s )/T ( s) .
Given the relationship between electrical and mechanical are as below where the Kb
and Kt can be determine by referring to the speed verses torque graph.

dθm (t )
v b (t )=K b T m(t )=K t I a (t )
dt ;

Ra

N1=50
ea(t)

N2=150 N3=25
Ja =2 kg.m2
θL(t) DL =400 N.m.s/rad
Da =5 N.m.s/rad

N4=100
JL=200 kg.m2

T(N.m)

100
50 V

150
ω (rad/s)

Answer:

Total inertia at armature of motor,

 Answer Tutorial 3 & 4
Teaching Modul: Control System Theory

N1 2 50 2
J m =J a +J L ( )
N2
=2+200
150 ( )
=24.2

Total damping,
N 2 50 2
N2 ( )
D m =D a + D L 1 =5+ 400
150 ( )
=49.4

From torque-speed curve,

Tstall = 100
ωno-load= 150
ea=50

Hence , electrical constant,

K t T stall 100
= = =2
Ra ea 50
ea 50
Kb= = =1/3
ω no−load 150

Substitute into Transfer Function

θm (s) 2/24.2
=
Ea (s) 1 1
s [s+
24.2 (
49.4 +2
3
] ( ))
0.0826
¿
s [s+ 2.068]

Thus, by using gear ratio, N1/N2=50/150;

θL (s ) 0.08026 1
( )
=
Ea s s s+2.068 ) 3
( ()
0.0275
¿
s ( s+2.068 )