MIDDLE EAST TECHNICAL UNIVERSITY

DEPARTMENT OF MECHANICAL ENGINEERING

ME 304 CONTROL SYSTEMS - SPRING 2015
HOMEWORK 2
Assignment date: 21.03.2015 Due date: 02.04.2015 23:55
Prepared by: Abdurrahman İŞBİTİRİCİ aisbitir@metu.edu.tr
Sinan Özgün DEMİR dsinan@metu.edu.tr

1) Consider the system shown below. A positive displacement pump driven by a DC

motor delivers hydraulic fluid to the hydraulic cylinder in order to move the mass
connected to the hydraulic cylinder. The hydraulic fluid is compressible and has a
constant capacitance of Cβ. The hydraulic energy is converted into translational
mechanical energy by the hydraulic ram where the area of the piston is given as A.
Resistance of the valve is shown by Rv. The back emf and torque constants of the DC
motor are Kb and Kt respectively. The pipes are short.
a) Write 11 elemental and 3 structural equations describing the system in time
domain.
b) Complete the detailed block diagram of the system given in Figure 3. Write the
appropriate transfer functions inside the empty blocks.
Hint: In a positive displacement pump, the volumetric flow rate is given by the
expression, q  D where D is the volume swept by the pump displacement and the

torque on the drive shaft is given by T  Dpa where pa is the pump output pressure.

Figure 1

1
2) A mechanical system converting rotational motion into linear motion is shown
below. The relation between angle of screw’s rotation  s and linear displacement of

the mechanism xs is given as xs  K s s . Obtain the transfer function

GX (s)  X (s) /  (s) and GXF (s)  X (s) / F(s) .

Figure 2

2
Figure 3