Ho Chi Minh City University of Technology: Control System Technology Assignment 1

Ho Chi Minh City University of Technology
Faculty of Mechanical Engineering
HO CHI MINH CITY UNIVERSITY OF

TECHNOLOGY
CONTROL SYSTEM TECHNOLOGY

ASSIGNMENT 1
STUDENT REPORT
Class: L03
Group : Nguyễn Quốc Khánh - 1913746
Lecturer: Mr. Nguyễn Tấn Tiến
Control System Technology P a g e 0 | 33

Contents
2.17........................................................................................................................................................2
2.21 .......................................................................................................................................................3
2.22 .......................................................................................................................................................4
2.26 .......................................................................................................................................................6
2.27 ......................................................................................................................................................8
2.33 .....................................................................................................................................................10
2.34 .....................................................................................................................................................11

2.2
Using the Laplace transform pairs of Table 2.1 and the Laplace transform theorems
of Table 2.2, derive the Laplace transforms for the following time functions
a.e−at sin ωtu(t )
f ( t )=sin ωt u ( t )
−at ω
L {e f (t) }=F( s+ a)= 2 2
( s+a) +ω
b.e−at cos ωtu(t)

f ( t )=cos ωt u ( t )
−at s+ a
L {e f (t) }=F( s+ a)= 2 2
( s+a) +ω
c. t 3 u(t)
3! 6
L {t 3 u ( t ) }= =
s 3+1 s 4
2.3
Solve the following differential equations using Laplace transform methods with
zero initial conditions
a.
dx
+7 x=5 cos 2 t
dt
Taking Laplace transform

5s
→ sX ( s ) +7 X ( s )=
s +22
2
5s A Bs+C
↔ X ( s )= = +
( s +7 ) ( s +2 ) s+7 s 2+ 4
2 2
A=
5s
2
s +4 | s=−7
=
−35
53

{
35
B=
53
20
C=
53
−35 1 35 s 10 2
↔ X ( s )= + +
53 s +7 53 s +2 53 s2 +22
2 2
Taking the inverse Laplace transform

−35 −7 t 35 10
→ x ( t )= e + cos 2t + sin 2 t
53 53 53
b.
2
d x dx
+ 6 +8 x=5 sin 3t
dt
2
dt

2 15
→ s X ( s ) +6 sX ( s ) +8 X ( s )=
s +32
2
15 15
↔ X ( s )= =
( s +6 s +8 ) ( s +9 ) ( s+2 ) ( s +4 ) ( s 2 +9 )
2 2
A B Cs+ D
¿ + +
s+ 2 s +4 s2 +9
A=
15
( s+ 4 ) ( s2 +9 ) |
s=−2
=
15
26
)|
15 −3
B= =
( s +2 ) ( s 2+ 9 s=−4
10
{
−18
C=
65
−3
D=
65
15 1 3 1 18 s 1 3
→ X ( s )= − − −
26 s +2 10 s+ 4 65 s +9 65 s2 +9
2

15 −2 t 3 −4 t 18 1
→ x ( t )= e − e − cos 3 t − sin 3 t
26 10 65 65
c.
2
d x dx
+ 8 + 25 x =10u (t)
dt 2
dt

10
→ s 2 X ( s ) +8 sX ( s ) +25 X ( s )=
s
10 A Bs+ C
↔ X ( s )= = + 2
s ( s + 8 s+ 25 )
2 s s +8 s +25
A= 2
10
s +8 s+25 |
s =0
=
2
5
{
−2
B=
5
−16
C=
5
→ X ( s )=
21 2
− 2
s+ 8
=
21 2
−
s+ 4
2 2
+
(
4 3
5 s 5 s +8 s+25 5 s 5 ( s+ 4 ) +3 3 ( s+ 4 )2 +32 )
2 2 −4 t 4
→ x ( t )= − e (cos 3 t+ sin 3 t)
5 5 3
2.4
Solve the following differential equations using Laplace transform methods with the
given initial conditions
a.
2
ⅆ x dx dx
+ 2 + 2 x=sin 2 t ( 1 ) ; x ( 0 ) =4 , ( 0 ) =−4
dt
2
dt dt

2
(s¿¿ 2 X ( s )−4 s +4 )+ 2(sX ( s ) −4)+2 X ( s )= 2
¿
s +4

4 s + 4 s +16 s +18 As+ B C(s+1)+ D

3 2
( )
→X s = 2 2
= 2 +
(s + 4)( s +2 s +2) s + 4 ( s +1 )2+ 1
−1 −1 21 2
→ A= ; B= ; C= ; D=
5 5 5 5
→ X ( s )=
1
5
21×
( s+1
2
( s+1 ) +1
2
+ ×
21
1
2
( s+1 ) +1
1 s
− × 2 − 2
2
2
s +4 s + 4 )
→ x ( t )=
1
5[ −t 2 −t 1
21 e cos t + e sin t − sin2 t −cos 2 t
21 2 ]
b.
2
ⅆ x dx −2t dx
+ 2 + x =5 e + t ; x ( 0 )=4 , ( 0 )=1
dt
2
dt dt

5 1
(s¿¿ 2 X ( s )−4 s−1)+2(sX ( s )−4 )+ X ( s )= + 2¿
s +2 s
4 3 2
4 s +17 s +23 s + s+ 2 A B C D E
→ X ( s )= = 2+ + + +
2 2
s ( s+ 1 ) ( s+ 2) s s ( s +1 ) 2
s +1 s +2
1 2 11 1 5
→ X ( s )= − + + +
s 2
s ( s+1 ) 2
s+1 s+ 2

−t −2 t
→ x ( t )=t −2+11 t e +5 e
c.
2
ⅆ x 2 dx
+ 4 x=t (1 ) ; x ( 0 )=2 ; ( 0 )=3
dt
2
dt

2
(s¿¿ 2 X ( s )−2 s−3)+ 4 X ( s )= ¿
s3
4 3
2 s +3 s + 2 As+ B C D
→ X ( s )= = 2 + 3+
s +4 s s
3 2
s (s + 4)

17 s 3 2 1 1 11
→ X ( s )= + 2 + 3−
8 s + 4 2 s +4 2 s 8 s
2

17 3 1 2 1
→ x ( t )= cos 2 t+ sin 2t + t −
8 2 4 8
2.8
For each of TF, write the corresponding differential equation
a.
X (s) 7
= 2
F (s) s +5 s+10
X ( s ) ( s 2 +5 s +10 )=7 F ( s )

2
d x dx
2
+5 +10 x=7 f (t)
dt dt
b.
X (s ) 15
=
F ( s ) ( s+10 )( s+11 )
X ( s ) ( s +10 ) ( s+ 11 )=15 F ( s)
X ( s ) ( s +21 s+ 110 )=15 F (s)

2

2
d x dx
+ 21 +110 x=15 f (t)
dt 2
dt
c.
X (s) s +3
= 3
F (s) s +11 s2 +12 s+ 18
X ( s ) ( s +11 s +12 s +18 ) =(s+3) F( s)

3 2

3 2
d x d x dx tdf
+ 11 2 + 12 +18 x= +3 f ( t)
dt
3
dt dt dt
2.17
Find G ( s )=V 0 ( s)/V i ( s) for each network.
a.
Writing mesh equations

The mesh equations for loop 1
( 2 s +2 ) . I 1 ( s ) −2. I 2 (s )=V i ( s )

−2. I 1 ( s)+ ( 2 s+ 4 ) . I 2(s)=0
But from the second equation, I 1 ( s )= ( s+ 2 ) I 2 ( s ) . Substituting this in the first equation
yields,
( 2 s +2 ) . ( s+2 ) . I 2 (s)−2. I 2 ( s)=V i ( s )
Or
I2(s ) 1
= 2
( )
V i s 2 s + 4 s+2
But,
V L ( s )=s I 2 ( s ) . Therefore,
V L ( s) s
=
V i ( s ) 2 s 2+ 4 s+2
b.
Writing mesh equations

( 4+ 2s ) . I ( s )−( 2+ 1s ) . I ( s )=V ( s )
1 2
The mesh equations for loop 2 − 2+ ( 1s ) . I ( s ) +( 4+ 1s + 2 s) . I ( s )=0

1 2
Solving for I 2 ( s )
| |
4 s+2
V ( s)
s
−2 s+1
0
s sV ( s)
| |
I 2(s)= =
4 s+2 −2 s+1 4 s 2+6 s +1
s s
2
−2 s +1 2 s +4 s +1
s s
Therefore,
V L ( s) 2 s I 2 ( s ) 2 s2
= =
V ( s) V (s) 4 s 2+ 6 s +1
2.18.
Find G ( s )=V 0 ( s)/V i (s) for each network. Solve the problem
using mesh analysis
a.

Convert the network into Laplace transforms

The mesh equations for each loop:
{ { {
L1 s I 1 + R I 1−R I 2=V 2 s I 1 + I 1−I 2=V ( 2 s +1 ) I 1−I 2=V
⇔
( )
I ⇔ 2 2
−R I 1 + L2 s I 2+ 2 + R I 2=0 −I 1 +3 s I 2 + I 2 + I 2=0 −I 1 + 3 s+ +1 I 2=0
Cs s s
⇒ I 2=
|2−1s+ 1 V0| =
V .s
I 2 (s) s
| |
3 2
2 s+ 1 −1 6 s +5 s + 4 s+2 ⇒ =
V (s) 6 s 3 +5 s 2+ 4 s+2
2
−1 3 s + +1
s
But:
V 0 ( s )=L2 s I 2 ( s )=3 s I 2 ( s )
There for:
V 0 (s ) 3 s2
= 3
V (s) 6 s +5 s2 +4 s +2
b.

Convert the network into Laplace transforms

1 1 1 L(s)s s
= + ↔ Z ( s )= = 2
Z (s) 1 /C ( s ) s L( s)s 2
L ( s ) C ( s ) s + 1 s +1
The mesh equations for each loop:
{ { ( )
2 2
s +1 s +1
( Ls+ Z ) I 1−Z I 2−Ls I 3=V s+ I 1− I −s I 3=V
s s 2
(
−Z I 1+ Z+ R+
1
)
Cs 2
I −R I 3 =0 ⇔ −s 2 +1
s
I 1+ (
s 2+1
s ) 1
+1+ I 2−I 3=0
s
−Ls I 1−R I 2 + ( Ls+ Ls+ R ) I 3=0
−s I 1 −I 2 + ( 2 s +1 ) I 3=0
3 2
s +2 s + 2 s
⇒ I 2= 4 V
s +2 s 3 +3 s 2+ 3 s+ 2
But:
I2
V 0 ( s )=
s
There for:
V 0 (s ) s2 +2 s +2
= 4
V (s) s + 2 s3 +3 s2 +3 s +2
2.19
Find G ( s )=V 0 ( s)/V i ( s) for each network. Solve the problem using nodal equations
a.
Sum of currents flowing from the nodes marked V R ( s) and V C ( s)

{
V R ( s )−V i ( s) V R ( s) V R ( s ) −V c (s)
+ + =0
L1 (s)s R L2 (s ) s
V c ( s )−V R (s ) V c (s )
+ =0
L2 ( s ) . s 1/ C( s) s
{
V R ( s ) −V i (s) V R (s) V R ( s )−V c (s)
+ + =0
↔ 2s 1 3s
V c ( s )−V R (s) V c (s) s
+ =0
3. s 2
{
6 s +5 1 1
V R ( s )− V c ( s )= V i( s)
6s 3s 2s
↔ 2
−1 3 s +2
V R (s )+ V c ( s )=0
3s 6s
Using Cramer’s rule
| |
1 −1
V (s)
2s i 3s
3 s 2 +2
0
6s ( 3 s 2+ 2 ) V i (s)
| |
V R ( s )= =
6 s +5 −1 6 s3 +5 s2 +4 s+ 2
6s 3s
−1 3 s 2+2
3s 6s
| |
6 s +5 1
V ( s)
6s 2s i
−1
0
3s 2 V i (s)
| |
V C ( s )= =
6 s +5 −1 6 s +5 s 2+4 s+2
3
6s 3s
−1 3 s 2+2
3s 6s
( 3 s 2+ 2 ) V i( s) 2 V i ( s)
2
3 s V i (s)
V 0 ( s )=V R ( s )−V C ( s ) = 3 2
− 3 2
= 3 2
6 s +5 s +4 s +2 6 s +5 s + 4 s +2 6 s + 5 s + 4 s+2
Forming the transfer function

V 0 (s ) 3s
2
G ( s )= = 3
V i ( s ) 6 s +5 s 2 +4 s+ 2
b.
1 1 1 L(s)s s
= + ↔ Z ( s )= = 2
Z (s) 1 /C ( s ) s L( s)s 2
L ( s ) C ( s ) s + 1 s +1
Sum of currents flowing from the nodes marked V z (s ) and V 0 (s)
{
V z ( s )−V i( s) V z ( s) V z ( s )−V 0 ( s)
+ + =0
L2 (s)s Z ( s) R
V 0 ( s )−V z (s) V 0 ( s) V 0 ( s )−V i(s)
+ + =0
R 1/C (s) s L1(s) s
{
V z ( s )−V i ( s) V z (s ) V z ( s )−V 0 (s)
+ + =0
s s 1
↔ 2
s +1
V 0 ( s )−V z (s ) V 0 ( s) V 0 ( s )−V i (s)
+ + =0
1 1/ s s
(
{
s+1+ ) V ( s )−V ( s ) = V (s)
2 1
z 0 i
↔ s s
−V ( s)+( s+ 1+ ) V ( s )= V (s )
1 1
z 0 i
s s

| |
2 1
s+1+ V (s )
s s i
1
−1 V (s )
s i ( s 2+2 s+2 ) V i ( s)
V 0 ( s )=
| |
=
2 s 4 +2 s 3+ 3 s 2+3 s+2
s+1+ −1
s
1
−1 s+ 1+
s

V 0 (s) 2
s +2 s +2
G ( s )= = 4
V i ( s ) s + 2 s3 +3 s2 +3 s +2
2.20.
a. Write, but do not solve, the mesh and nodal eq.s for the network
The mesh equations for the network:
The mesh equations for the network:

+ ( 4 s +4 ) . I 1−( 4 s +2 ) . I 2−2. I 3 =V (a)
−( 4 s +2 ) . I 1+ (10 s+14 ) . I 2−( 6 s+ 4 ) . I 3=0 (b)

9
( )
−2 I 1− ( 6 s+ 4 ) I 2 + 6 s+ +6 I 3 =0
s
(c)
The nodal equations for the network:
V 1 ( s ) −V ( s ) V 1 ( s ) V 1 ( s )−V o ( s )
+ + =0
2 2+ 4 s 4+6 s
V 0 ( s )−V 1 ( s ) V 0 ( s ) V 0 ( s ) −V ( s )
+ + =0
4+ 6 s 8 9
s
Or
[ 6 s 2 +12 s+5
2
12 s +14 s +4 ]
V 1 ( s )−
6
1
s+[4 ] 1
V 0 ( s )= V ( s )
2
− [ 1
6 s+ 4 ]
V 1 ( s) +[24 s2 + 43 s+54
216 s +144 ] s
V 0 ( s ) = . V (s )
9
b. Use matlab, the Symbolic Math Toolbox, and the eq.s found in
part a to solve for the TF G ( s )=V 0 (s)/V ( s). Use both the mesh
and nodal equations to show that either set yields the same TF
syms s V %Construct symbolic object for frequency

%variable 's' and V.
'Mesh Equations'
A2=[(4+4*s) V -2
-(2+4*s) 0 -(4+6*s)
-2 0 (6+6*s+(9/s))] %Form Ak = A2.
A=[(4+4*s) -(2+4*s) -2
- (2+4*s) (14+10*s) -(4+6*s)
-2 -(4+6*s) (6+6*s+(9/s))] %Form A.

I2=det(A2)/det(A); %Use Cramer's Rule to solve for I2.
Gi=I2/V; %Form transfer function, Gi(s) =
I2(s)/V(s).
G=8*Gi; %Form transfer function, G(s) = 8*I2(s)/V(s).
G=collect(G); %Simplify G(s).
'G(s) via Mesh Equations' %Display label.
pretty(G) %Pretty print G(s)
'Nodal Equations'
A2=[(6*s^2+12*s+5)/(12*s^2+14*s+4) V/2
-1/(6*s+4) s*(V/9)] %Form Ak = A2.
A=[(6*s^2+12*s+5)/(12*s^2+14*s+4) -1/(6*s+4)
-1/(6*s+4) (24*s^2+43*s+54)/(216*s+144)]
%Form A.
Vo=simple(det(A2))/simple(det(A));
%Use Cramer's Rule to solve for Vo.
G1=Vo/V; %Form transfer function, G1(s) = Vo(s)/V(s).
G1=collect(G1); %Simplify G1(s).
'G(s) via Nodal Equations'
pretty(G1) %Pretty print G1(s.
Computer reponse
ans =
Mesh Equations
A2 =
[ 4*s + 4, V, -2]
[ - 4*s - 2, 0, - 6*s - 4]
[ -2, 0, 6*s + 9/s + 6]
A=
[ 4*s + 4, - 4*s - 2, -2]
[ - 4*s - 2, 10*s + 14, - 6*s - 4]
[ -2, - 6*s - 4, 6*s + 9/s + 6]
ans =
G(s) via Mesh Equations
32
48 s + 96 s + 112 s + 36
----------------------------
32
48 s + 150 s + 220 s + 117
ans =
Nodal Equations
A2 =
[ (6*s^2 + 12*s + 5)/(12*s^2 + 14*s + 4), V/2]
[ -1/(6*s + 4), (V*s)/9]
A=
[ (6*s^2 + 12*s + 5)/(12*s^2 + 14*s + 4), -1/(6*s + 4)]
[ -1/(6*s + 4), (24*s^2 + 43*s + 54)/(216*s + 144)]
ans =
G(s) via Nodal Equations

32
48 s + 96 s + 112 s + 36
----------------------------
32
48 s + 150 s + 220 s + 117
2.21
Find G ( s )=V 0 (s)/V (s)for each operational amplifier circuit
a.
5 1 5 5 s+5
Z1 ( s )=5.10 + =10 .
−6
2.10 s s
5 1 5 s+5
Z2 ( s )=10 + =10 .
−6
2.10 s s
Therefore,
V 0 ( s ) −Z 2 ( s ) −1 s+5
G ( s )= = = .
V (s ) Z 1 ( s ) 5 s+1
b.
5 1 5 5 s+5
Z1 ( s )=5.10 + =10 .
−6
2.10 s s
Z2 ( s )=105 1+ ( 5
s+5)=105 .
s+10
s+5
Therefore,
V 0 ( s ) −Z 2 ( s ) − ( s+ 10 ) . s
G ( s )= = =
V (s ) Z 1 ( s ) ( s+5)(5 s+5)
2.22
Find G ( s )=V 0 (s)/V (s)for each operational amplifier circuit
a.
5 1
Z1 ( s )=4.10 + −6
4.10 s
5 1
Z2 ( s )=1,1.10 +
4.10−6 s
Therefore,
V 0 ( s ) Z1 ( s ) +Z 2 ( s ) s +0,98
G ( s )= = =1,275.
V (s ) Z1( s ) s +0,625
b.

11
10
5 s
Z1 ( s )=4.10 +
0,25.106
4.105 +
s
109
27,5
5 s
Z2 ( s )=6.10 +
0,25.106
110.103 +
s
Therefore,
V 0 ( s ) Z1 ( s ) +Z 2 ( s ) 2640 s2 +8420 s+ 4275
G ( s )= = =
V (s ) Z1( s ) 1056 s 2+3500 s+2500
2.23.
Find G ( s )=X 1( s)/ F (s) for the translational mechanical system
Writing the equations of motion, where X 2 (t ) is the displacement of the right

member of springr

{( M s 2+ f v s + K ) X 1 −K X 2=F ⇒
−K X 1 + K X 2 =0
( M s2 + f v s+ K ) X 1−K X 1=F ⇔ ( 5 s 2+ 4 s+5 ) X 1−5 X 1=F
X 1 (s) 1
⇔ ( 5 s + 4 s ) X 1 =F ⇒ =
2
F ( s) ( 5 s 2+ 4 s )
2.24
Find G ( s )=X 2( s)/ F (s) for the translational mechanical network
Free body diagram of M 1
The Laplace transform of the equation of motion of M 1

+ [ M 1 s + f v1 s + K ] X 1 ( s )−( f v 2 s+ K ) X 2 ( s )=F (s)
2
↔ ( s + s +1 ) X 1 ( s ) −( s +1 ) X 2 ( s ) =F( s)
2


−( f v 1 s+ K ) X 1 ( s ) + [ M 1 s 2+ f v1 s + K ] X 2 ( s )=0
↔−( s+1 ) X 1 ( s ) + ( s2 +s +1 ) X 2 ( s )=0
The Laplace transform of the equation of motion
{( s 2 +s +1 ) X 1 ( s )−( s +1 ) X 2 ( s )=F(s)
−( s+1 ) X 1 ( s ) + ( s + s+1 ) X 2 ( s )=0
2
| |
2
s +s +1 F (s)
− ( s+ 1 ) 0 ( s+ 1 ) F (s )
X 2 ( s )= =
| |
2 2
2
s + s+1 −( s+1 ) s ( s +2 s+2)
2
−( s +1 ) s + s+ 1

X2 (s ) s +1
G ( s )= = 2 2
F ( s ) s ( s +2 s +2)
2.25
Find G ( s )=X 2( s)/ F (s) for the translational mechanical system
Let X 1 (s) be the displacement of the left member of the spring and X 3 (s) be the
displacement of the mass.
Writing the equations of motion
2 X 1 ( s )−2 X 2 ( s )=F( s)
−2 X 1 ( s )+ ( 5 s+2 ) X 2 ( s )−5 s X 3 ( s )=0

2
−5 s X 2 ( s )−(10 s +7 s) X 3 ( s ) =0
Solving for X 2 ( s )

| |
2
5 s +10 F(s)
−10 0 10 F ( s)
X2= =
| |
2
5s
2
−10 s ( s +50 s +2)
1
−10 s+ 10
5
Thus:
X2 (s ) 10 s+ 7
=
F(s) 10 s (5 s +1)
2.26
Find the TF for the system G ( s )=X 1(s)/ F (s)

+¿
↔ ( s 2+ 6 s +9 ) X 1 ( s )−( 3 s+5 ) X 2 ( s )=0


−( f v 2 s+ K 2) X 1 ( s ) + [ M 2 s 2+ ( f v3 + f v 2 ) s + K 2 ] X 2 ( s )=F(s)
↔−( 3 s+5 ) X 1 ( s ) + ( 2 s 2+ 5 s+5 ) X 2 ( s ) =F(s)
{ ( s 2 +6 s +9 ) X 1 ( s )−( 3 s+5 ) X 2 ( s )=0

−( 3 s+ 5 ) X 1 ( s ) + ( 2 s +5 s +5 ) X 2 ( s )=F (s )
2
X 1 ( s )=
| 0 −( 3 s+5 )
F (s) ( 2 s +5 s+ 5 )
2 | =
( 3 s+ 5 ) F ( s)
| | 2 s +17 s3 + 44 s 2+ 45 s+20
4
( s +6 s+ 9 )
2
−( 3 s +5 )
−( 3 s +5 ) ( 2 s2 +5 s +5 )
X1 (s ) ( 3 s+5 )
G ( s )= = 4
F ( s ) 2 s +17 s + 44 s 2 +45 s+20
3

2.27
Find the TF G ( s )=X 3( s)/ F (s ) fortranslational mechanical system

2
+( M 1 s +f v 2 . s + K 1) X 1 ( s )−f v 2 . s . X 2 ( s )=0
↔ ( 4 s 2+2 s+6 ) X 1 ( s )−2 s X 2 ( s )=0

−f v 2 . s . X 1 ( s ) + [ M 2 s 2 + ( f v 1+ f v 2 ) s + K 2 ] X 2 ( s )−K 3 . X 3 (s )=F(s)

↔−2 s X 1 ( s )+ ( 4 s 2+ 4 s+6 ) X 2 ( s ) −6 X 3 ( s )=F (s )

−K 2 . X 2+ ( M 3 s + f v 3 . s+ K 3 ) X 3 ( s ) =0
2
↔−6 X 2 ( s ) + ( 4 s2 +2 s +6 ) X 3 ( s )=0
{
( 4 s 2+2 s+6 ) X 1 ( s ) −2 s X 2 ( s )=0
−2 s X 1 ( s ) + ( 4 s +4 s+ 6 ) X 2 ( s )−6 X 3 ( s )=F ( s )
2
−6 X 2 ( s ) + ( 4 s +2 s+ 6 ) X 3 ( s )=0
2
| |
( 4 s2 +2 s+ 6 ) −2 s 0
−2 s ( 4 s + 4 s+6 ) F ( s )
2
0 −6 0 3 F (s )
X 3 ( s )= =
| |
3 2
( 4 s2 +2 s +6 ) −2 s 0 s(8 s +12 s +26 s +18)
−2 s ( 4 s + 4 s+6 )
2
−6
0 −6 ( 4 s2 +2 s+ 6 )

X3 (s ) 3
G ( s )= =
F ( s ) s( 8 s +12 s2 +26 s+18)
3

2.30
For each of the rotational mechanical systems, write, but do
not solve, the equations of motion
a.
The Laplace transform of the equations of motion
{ {
( D1 s+ J 1 s 2 + D2 s+ K 1 ) θ 1−( D2 s+ K 1) θ 2=0 ⇔ ( 8 s +5 s 2 +1 s+ 9 ) θ1−( 1 s +9 ) θ2=0
−( D 2 s+ K 1 ) θ 1+ ( D2 s+ K 1 + J 2 s 2 + K 2 ) θ2=T −( 1 s +9 ) θ1 + ( 1 s +9+3 s +3 ) θ2=T
2
⇔
{
( 5 s 2 +9 s +9 ) θ1 −( s +9 ) θ2=0
−( s+ 9 ) θ 1+ ( 3 s + s+12 ) θ 2=T
2
b.
θ1 :J 1
θ1 : point A
θ1 :J 2
θ1 : point B
The Laplace transform of the equations of motion
{
( J 1 s 2 + K 1 ) θ1−K 1 θ2=T
−K 1 θ1 + ( D1 s + K 1 ) θ2−D1 s θ 3=0
−D1 s θ2 + ( J 2 s + D 1 s+ K 2) θ 3−K 2 θ4 =0
2
−K 2 θ3 + ( D2 s+ K 2+ K 3 ) θ 4=0
2.31
Find G ( s )=θ2 ( s)/T (s) for the rotational mechanical system
The equation of motion
{( J s 2+ 2 Ds+ K ) θ1 ( s )−( Ds+1 ) θ2 ( s )=T (s)

−( Ds+ 1 ) θ1 ( s ) + ( 2 Ds+1 ) θ2 ( s )=0
{
( 2 )
↔ s +2 s+1 θ1 ( s )−( s +1 ) θ 2 ( s ) =T ( s)
−( s+1 ) θ1 ( s )+ ( 2 s+1 ) θ2 ( s )=0
Use Cramer’s rule
| |
2
s +2 s+ 1 T (s)
−( s+1 ) 0 ( s+1 ) T ( s) T (s )
θ2 ( s ) = = =
| | 2 s (s +2 s+1) 2 s(s+ 1)
2 2
s +2 s +1 −( s+1 )
− ( s+1 ) 2 s +1
Forming the transfer funcion

θ2 ( s ) 1
G ( s )= =
T ( s ) 2 s ( s+1)
2.32
For the rotational mechanical system with gears, find the TFG ( s )=θ3 (s)/T (s ).
The gears have inertia and bearing friction as shown

Reflecting all of the impedances to the output shaft, θ3

The equation of motion can now be written as
N4 N2
(J ¿¿ e s 2+ D e s )θ3 ( s )=T ( s) ¿
N3 N1
Thus
N4 N2
θ3 ( s ) N3 N1
=
T (s) J e s2 + D e s
The transfer function

N4 N2
θ3 ( s ) N3 N1
G ( s )= =
T ( s) J e s2 + D e s
Where
( ) ( )
2 2
N4 N4 N2
J e =J 4+ J 5+ ( J 2 +J 3 ) + J1
N3 N3 N1
)( ) ( )
2 2
N4 N4 N2
D e =D4 + D5+ ( D2+ D3 + D1
N3 N3 N1
2.33
Find the TF for the rotational system, G ( s )=θ2 (s)/T (s)
Reflecting all impedances to θ2 ( s )

N2
( J s 2 + Ds+ K ) θ2 ( s )=T ( s ) .
N1

{[ ( ) ( )] [ ( ) ( )] ( )}
2 2 2 2 2
N N ' N N ' N ' N2
↔ J 2+ J 1 . 2 +J 3 . 2 . s + D2 + D 1 . 2 + D3 . 2
2
. s+ K . 2 .θ 2 ( s )=T ( s ) .
N1 N3 N1 N3 N3 N1
Substituting values,
{[ ( )] [ ( )] ( ) }. θ ( s )=T ( s) .3
2 2 2
2 1 2 2 1 1
↔ 1+2. ( 3 ) +16. . s + 2+ 1. ( 3 ) +32. . s +64. 2
4 4 4
Thus,
θ2 ( s ) 3
=
T ( s ) 20 s +13 s+ 4
2
2.34
Find the TF for the rotational system, G ( s )=θ2 (s)/T (s)
Reflecting all impedances to θ2 ( s )

N2
( J s 2 + Ds+ K ) θ2 ( s )=T ( s ) .
N1
↔¿
Substituting values,
↔¿
Thus,
θ2 ( s ) 10
=
T ( s ) 1300 s + 4000 s +550
2
2.42

For the motor, load, and torque-speed curve, find the TF

G ( s )=θ2 (s)/ Ea ( s)
K t T stall 100
= = =2
Ra E a 50
Ea 50 1
Kb= = =
ω no−load 150 3
( )
N1 2
()
2
1
J m =J 1+ J 2 =5+ .18=7
N2 3
( )
2
D m =D 1+
N1
N2
D2=8+
1 2
3 ()
.36=12
Kt 1 2
. 2
m Ra J m 7 s=
= s=
[ ( )] [ (
38
)]
Ea 1 K 1 1 7 s2 + s
s s+ Dm + t K b s s+ 12+ 2 3
Jm Ra 7 2
But:
N1 θ
θm = θL = L
N2 3

There for:
θm 2
= 2
Ea 21 s +38 s
2.43
The motor whose torque-speed characteristics drives the load shown in the diagram.
Some of the gears have inertia. Find the TF G ( s )=θ2 (s)/ Ea (s)
The no-load speed:

600 1
ω no−load= 2 π =20(rad /s )
π 60
The electrical constants of the motor

K t T stall 5
= = =1
Ra ea 5
ea 5 1
Kb= = =
ω no−load 20 4

( ) ( )
2 ' 2
N1 N N
() ()
2 2
1 1
J m =J 1+ ( J 2 +J '2 ) +J 3 1 2 =1+ 4 +16 =3( kg m2)
N2 N2 N3 2 4
( ) ()
2
N 1 N '2 1 2
D m =D =32 =2(Nms /rad )
N 2 N3 4
The transfer function θm ( s)/ E a (s)

Kt 1 1 1
. 1×
θ m (s) Ra J m 3 3
= = =
s (s +0,75) The transfer function
[ ( )] [ ( )]
Ea (s) 1 Kt 1 1
s s+ Dm + K b s s+ 2+1×
Jm Ra 3 4
G ( s )=θ2 ( s)/ Ea ( s)
N 1 N '2 1 1 1
θ m (s) ×
θ (s) N2 N3 3 4 12
G ( s )= 2 = = =
Ea (s) E a (s) s (s +0,75) s( s+ 0,75)
2.44
A dc motor develops 55𝑁𝑚 of torque at a speed of 600𝑟𝑎𝑑/𝑠 at 12𝑉. It stalls out
at this voltage with 100𝑁𝑚 of torque. If the inertia, damping of the armature
are 7𝑘𝑔𝑚2 and 3𝑁𝑚𝑠/𝑟𝑎 , respectively, find the TF G ( s )=θ L (s)/ Ea ( s), of this
motor if it drives an inertia load of 105𝑘𝑔𝑚2 through a gear train
The following torque-speed curve can be drawn from the data given:

Find the mechanical constants
( )
2
N 1 N '2
( )
2
12 ×25
J m =J a +J L =7+105 =9.92
N2 N 3 25 × 72
D m =3
Find the electrical constants from the torque-speed curve

ω no−load=1333.33 , T stall =100
K t T stall 100 Ea 12
= = ; K b= =
Ra E a 12 ωno−load 1333.33
The transfer function θm ( s)/ E a ( s )

Kt 1
θ m (s) Ra J m
=
Ea (s) s¿¿
Since
1
θ L ( s ) = θm ( s ) ,
6
θ m (s) 0.14
=
Ea (s) s (s +0.31)

Ho Chi Minh City University of Technology: Control System Technology Assignment 1

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Ho Chi Minh City University of Technology

Faculty of Mechanical Engineering

HO CHI MINH CITY UNIVERSITY OF

CONTROL SYSTEM TECHNOLOGY

Lecturer: Mr. Nguyễn Tấn Tiến

Control System Technology P a g e 0 | 33

Control System Technology P a g e 1 | 33

b.e−at cos ωtu(t)

Taking Laplace transform

Control System Technology P a g e 2 | 33

Taking the inverse Laplace transform

Taking Laplace transform

Taking the inverse Laplace transform

Control System Technology P a g e 3 | 33

Taking Laplace transform

Taking Laplace transform

Control System Technology P a g e 4 | 33

4 s + 4 s +16 s +18 As+ B C(s+1)+ D

Taking Laplace transform

Taking the inverse Laplace transform

Taking Laplace transform

Control System Technology P a g e 5 | 33

Taking the inverse Laplace transform

Taking the inverse Laplace transform

X ( s ) ( s +21 s+ 110 )=15 F (s)

Taking the inverse Laplace transform

X ( s ) ( s +11 s +12 s +18 ) =(s+3) F( s)

Taking the inverse Laplace transform

Control System Technology P a g e 6 | 33

Writing mesh equations

The mesh equations for loop 2

Writing mesh equations

The mesh equations for loop 2 − 2+ ( 1s ) . I ( s ) +( 4+ 1s + 2 s) . I ( s )=0

Control System Technology P a g e 8 | 33

Convert the network into Laplace transforms

Control System Technology P a g e 9 | 33

Convert the network into Laplace transforms

The mesh equations for each loop:

Sum of currents flowing from the nodes marked V R ( s) and V C ( s)

Control System Technology P a g e 10 | 33

Using Cramer’s rule

Forming the transfer function

Control System Technology P a g e 11 | 33

Sum of currents flowing from the nodes marked V z (s ) and V 0 (s)

Using Cramer’s rule

Control System Technology P a g e 12 | 33

Forming the transfer function

The mesh equations for loop 1

Control System Technology P a g e 13 | 33

The nodal equations for the network:

syms s V %Construct symbolic object for frequency

-2 -(4+6*s) (6+6*s+(9/s))] %Form A.

Control System Technology P a g e 15 | 33

Control System Technology P a g e 17 | 33

Writing the equations of motion, where X 2 (t ) is the displacement of the right

Control System Technology P a g e 18 | 33

Free body diagram of M 1

The Laplace transform of the equation of motion of M 1

Free body diagram of M 2

Control System Technology P a g e 19 | 33

The Laplace transform of the equation of motion of M 2

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

-2 -(4+6s) (6+6s+(9/s))] %Form A.