Professional Documents
Culture Documents
Control Tutorial Answers 2
Control Tutorial Answers 2
Department of Mechanical Engineering
3M Machine System Dynamics
Control Tutorial 2
Solving Equations of Motion
1. The schematic diagram below shows the arrangement of a mechanical system consisting of a mass,
two springs and a viscous damper. The displacements x(t) and y(t) are measured relative to some
arbitrary initial equilibrium position..
a) Derive the transfer function for the above system.
b) The system is subjected to a unit step displacement x(t).
(i) Derive the expression for the output displacement y(t) resulting from this input.
(ii) Determine the maximum value of the output displacement y(t).
(iii) Using the expression found in (a), determine the resulting steady state value of the
displacement y(t) and confirm this result using the final value theorem
(iv) Determine the damping ratio of the above system.
You may use Laplace transform pair:
2
3
b)
√
. , 0.5 1.658
2
0.5 2.75
2. The diagram below shows a fluid level control system involving two interconnected tanks. Obtain the
differential equation relating h1 and hr (eliminating h2) and write the corresponding transfer function.
(a) For steady state conditions (all differentials → 0) drive the relation between h1 and hr .
(b) 0.1 1 , 2 derive the transfer function . Find the steady state error in
response to a unit step demand hr(t) and find its value for 10.
(c) Explain why this system cannot have zero steady state error.
hr
q p = K p (h r - h 1)
a 1, a 2= tank area
h1
Pump delivery:
h2 q p = K p (h r - h 1)
h1
q = K d h1
d
a2 q = K f (h 2 - h 1)
f a1
Answer
(a) At steady state :
∓
Dynamic equations:
Laplace transforms:
Eliminate
0.1
2 0.1 0.2 0.1 0.1
10
0.1 10
2 0.1 0.2 10 0.1 0.1
1
2 0.1 0.2 0.99
1 1 1 1
lim lim . 0.99
→ → 2 0.1 0.2 0.99 0.1 0.2 0.99 1.01
Hence 1 0.99 0.01 1%
With proportional control, if 0 then the pump flow 0. With a continuing outflow a finite error is
required to keep the finite inflow from the pump
3. A position control system uses an electric DC motor. The applied motor voltage is ,
where is the voltage representing the demanded position, is the output of the position sensor
producing 5V/rad and is a constant. The system experiences a disturbance load .
a) Draw a block diagram of the control system showing clearly the physical variables
, , , , , the motor current and the motor torque
5, 4 Ω, 0.1 , 0.01 , 0.5
b) Modify the block diagram to show how the disturbance can be represented as an equivalent
voltage at the motor input.
c) Derive the expression for steady state positional error in response to a ramp input 1
and a step load disturbance 0.1
Answer
a)
θ 1
1 1
Ls R Js b s
b)
Ls R
K
θ 1
1 1
Ls R Js b s
c)
Motor control transfer function
5
0.1 0.5 0.1 4 25
500
5 40 2500
5 /
Ls R
K
500 2500
45 2700 45 2700
From the diagram:
,
1
d
1 1
2500
1 45 2700
d
2500 2500
1 1
45 2700 45 2700
45 2700 2500
d
45 2700 2500 45 2700 2500
Unit ramp input ,
.
step load 0.1 Nm ,
4. A simple angular position control system contains a device to produce a signal proportional to the
difference at any instant between the desired and actual positions, a linear amplifier and a motor
which exerts a torque proportional to the input signal to the motor. The load whose position is to
be controlled has a constant mass moment of inertia J about its axis of rotation and is supported in
a fixed frame by bearings which exert viscous damping of coefficient, c.
(a) Draw a block diagram for the system and write down the equation of motion.
(b) Show that the equation is similar to that describing the vibration of a single degree of freedom
system with base excitation (2M vibration course). Show that the damping ratio and natural
frequency are given by the following expressions:
,
2
(c) If a step input is applied to the system when it is at rest, show that the ratio of the first
overshoot to the magnitude of the step is given by
1
Where is the maximum amplitude reached, is the magnitude of the step.
[HINT: Use Laplace transform tables in the Data & Formulae Handbook.]
(d) In a particular case for which 100 . and 50 / , when a step input is
applied to the system whilst at rest, the first overshoot is to be one fifth of the magnitude of
the step. Find the value of the factor which relates the motor torque to the error signal.
(30 Nm/rad)
Answer:
Mechanical system
1
1 1
Js c s
(a) Let ,
(b)
, where ,
√
(c) Solution for unit step :
2
Here: , 1
1
For underdamped response 1, comparing coefficients with those in Laplace transform tables:
1 cos sin
1 cos sin
max
t
T/2
Period of oscillations is , therefore maximum amplitude at
1 cos sin
1 cos sin 1 cos
cos
(d) 0.2
0.2 1.609
0.513 ⟹ 0.2625 1
0.456
⟹
2 4
50
30 /
4 4 100 0.456
______________________________________________________________________________
Answers
.
1. (a) ; (b) 0.788 sin 1.66 1.03 , 1.04, 0.667, 0.289
2. (a) ; (a) ; (b) 0.01
. . .
.
3. (c)
4. (d) 30Nm/rad