I

"l

models
26 Closed loop systems and their

Problems
block diagram to represent the
s)'stel.ns draw a qualitative
1 For each of the follon'ing feedback vali'e to rcgulate tire supply'
in a ta^k *lith , ball fl.at controlled
s),srem: (a) *.ater le.,el co*ntrol
(b)tlremlostaticcor-rtrolofahot.*,ot",,oon,heatingradiator:(c)thecontrolloopfornror,etrlentof
a robot joint'

e-' ; (d)'f(r) - I ior 0' t < l 0 and zero for / > l0'
2Startingfronrthedefiningrelationshipe\,alustetheLaplacetral|onnsold]g|C}]1o''virrgfunctions
of time: (a) 5r; (b) l0 * 2rl (c) I *

(b) e-i'cos 0'5r; (c) 5+20t;

3.,.\\,ritedolr.n.u,ithrheaidofTablel.i,rheLaplacetransformsofthefollowinqexprcssions
are ,"ro, (uj a(/)+5i(0+c(/);
y'r. assuming initiai conditions
2 sin ro/'
(d) x(0 : 1 Oj'(r) + 5.r(r); (e) c(r) =
the Laplace in'erse of each
of thc follou'ine expressions for F(s);
4 . Deterrnine
(a)
t'l G* o.r.qtr + osrl xF + o, + xl
3
(a) (b)
.+4 s(s * 3)
5
\"/
1,.\

51(52 + 6s * 25)

Bylettingt.-+cJdetcrminethefinalva]uesforeachoftiretinrefunciions/(r)derivedinProblem
theorem'
+. . results by application of the final value
Ct."tirt
i:i
Amassnrkgu.hichcanslidealongaguiderod*-ithinaframeishe]dinacentralpositionbya
spring, u'hich can erert either
"

in Flg. Ft.t. fn. stiffiress of each

:':..',

spring on each side "r;;;., and guide rod is I'iscous

tensile or compressi'e i"r*, i.
11iim, and the friction betrveen mass
withdampingcoefficierrt.xsim.Determineth"t.un,f.,functionrelatingthepositionofthe
direction'
-"tt,o tt'," flr.. applied in an axial

Fig. P1'I

the
svstem shon'n in Fig' Pl'2 derive
mechanrcarcv""I-:,:::':::::: be"i:^f:itT:").1"'fl"',i1tr:"'"il:1o1;.,1
For the mechanical
ii considered :;;
to (a) the force' fto, &) rhe position r(/).
the mass to the input, when the input
61 InE
*:::':t:*]::"1-1' jll'
^L^.-,^ -^]"--'ofi^,Ilv
a pump bv a relativelv long shaft'
FiC"t:-:l-':^
An electric motor drives
*"1::IJ#"':".'.f ;:',:ix'J'JJ:r;;Jd;'il;G:;*l*r:::^'::i?#l
ln"ii.:il,t'J:l#,'#,Xi#,:::?;,1;!;;"'l;#l"ir:::i:ti"':':"hr;:;;,il'1,
;: ro'1or or
lHifi:L;"iai,."
;:ffil.3,|Jff,"ffi the laner transfer tunctio'r be':i::-ty::1i:::*fi'1o 'ihe
iriire shaft u'ere infinitelv stiff?
ffi'::iJili,il;:i::',:
Consider the drive berween the motor and pump of
Problem 8 to be *"1q1^1,f::::::t-X$i
:"ffJ:::1,Ii',:,""iff:il"ffi;: ;; ;il o"t".,,i,,. the ffansfer tunction relaring mot.rl'
shaft angle to the torque aPL'lied to the rotor of the ntotor'
for n:" elecfrical t'f;
10 Show that the transfer functions relating voltage 1,o(/) to r';(t) 1,.- ""*':: "j
;H#fiH1ffi?tT:H}i;Tti ;ffi"";:'il'lui*' or K' rand s in terms or n1' r{r';i
and C?
u'here the inPut is dre
11 Derive the transfer function for the eleclrical circr"lit shorvn in Fig' P1.6,
voluge ui(l) and the output the voltage v.,(l).