National University of Engineering

Faculty of Electrical and Electronic Engineering

( 2021-1)
HOMEWORK No. 3: “Solution of 1st Parcial”
Control Systems I (EE647N)
Author(s) Name(s) : ROBERTO DIOSES SORIANO
E-mail: rdiosess@uni.pe
1) 2)

Moment of inertia : Ĵ1 y Ĵ2
B1=B2=0
r1r2: radios

Solution : b:viscous difnition coefficient

k:spring constant
We make the equations of motion for the mechanical
system shown in Figure
Figure data : T= b1w1 + J1ẇ1 + T1
T2=b2w2 + J2ẇ2 + TL
X
T1= T – b1w1 + J1ẇ1 …………(1)
T2= b2w2 + J2ẇ2 + TL …………(2)
The input force of the system is these:
The 1 y 2 , B1=B2=0
a)

Taking Laplace transforms of this equation, assuming zero

initial conditions, we have:

b) P(t)= L1ẅ1 + R(ẇ1- ẇ2) + w1/c1+(w1-w2)/c2+(w1-w2)/c3

0= L2ẅ2 + R(ẇ2- ẇ1) + (w2-w1)/c2 + +(w2-w1)/c3
P(t) , it’s a disturbance
e1 = P(t) i1 = ẇ 1 i2 = ẇ 2

e1= L1 di1/dt+ R(i1-i2)+ (∫i1 dt)/c1+ (∫(i1-i2)dt )/c2+

(∫(i1-i2)dt)/c3
T1=T + J1ẇ1 ………. (3)
T2= J2ẇ2 + TL …..(4) the ӫ :
3÷4 F - (M+m) ẍ = gө - ẍ
ml ml l l
T1 = T + J1ẇ1
T2 J2ẇ2 + TL
F - Mẍ - mẍ = mgө - mẍ
By definition  : w2 = T1
w1 T2 ẍ = F - mgө
w2 = T + J1ẇ1 M M
w1 J2ẇ2 + TL
Laplace : w2(s) = T(s) + sJ1w1(s) ẋ1 = - mgX3 + 1 F …..(3)
w1(s) sJ2ẇ2(s) + TL(s) M M
sJ2w22(s) + TLw2(s) = w1(s)T + sJ1w12(s)
w2(s) = w1(s) T + sJ1w12(s) - sJ2w22(s) For (1) , (2) y (3) :
w2(s)TL = w1(s) T + sJ1w12(s) - sJ2w22(s)
TL = w1(s)T + sJ1w12 (s) - sJ2w2(s)
w2(s) w2(s)

3)

x
=
ẋ1
=
ẋ1
=
ẍ

 ẋ2 = ẋ2 = ӫ  ẋ3= = ….x2(1)
ẋ
3
=
ẋ
3
=

the ẍ
F- m l ӫ = gө – lӫ
M+m
F- ml ӫ = (M + m)( gө – lӫ)
F- ml ӫ = Mgө – Mlӫ + mgө - mlӫ
Mlӫ = Mgө + mgө – F
ӫ = Mgө + mgө - F
Ml Ml Ml
ӫ = (M+m)gө - F
Ml Ml
ẋ2 = (M+m)gx3 – F ……(2)
Ml Ml