DISEÑO MECATRÓNICO 50453010

EXAMEN 2 31/03/2022

1. The lever shown in figure of length L, is being pushed by an electromagnetic plunger with
constant Kf=Kb and represented by an equivalent circuit with Ra and La connected in
series. The mass m is attached in L/3, and a spring k and a damper c are attached at the
other end of lever with inverse displacement.
a) Obtain the differential equations in terms of the degrees of freedom (independent
variables). Define the matrix of Laplace transforms (2 pt.)
b) Obtain the transfer function which relates the mass displacement with an input voltage in
the plunger (0.5 pt.)
c) Obtain the step response of the transfer function defined in c). Define the steady state
value and settling time. (0.5 pt.)
d) Obtain the bode plot of the transfer function defined in c) and obtain the natural
frequencies of the system. Could they have seen in bode plot? (0.5 pt.)
e) Obtain the transfer function which relates the current with an input voltage in the plunger
and obtain its step response. Define the steady state value and settling time (1 pt.)
f) Represent the system in a block diagram and obtain the step response of c) (0.5 pt.)

Extra 0.5 pt. Define a low pass filter circuit which could be applied in the input voltage in order to
obtain and input signal only with ω1
 2. The motor shown in figure is attached to a gear transmission of ratio N1. The motor has a
constant Kt=Kb and represented by an equivalent circuit with Ra and La connected in
series. The motor wheel has an inertia of J1 and the motion wheel has an inertia of J2,
attached to an inertia J3 through a rotational spring a gear transmission of ratio N2 and
rotational spring kr. Both inertias are supported by two rotational dampers cr.
a) Obtain the differential equations in terms of the degrees of freedom (independent
variables). Define the matrix of Laplace transforms (2 pt.)
b) Obtain the transfer function which relates the displacement of motion wheel (J2) with an
input voltage in the motor (0.5 pt.)
c) Obtain the step response of the transfer function defined in c). Define the steady state
value and settling time. (0.5 pt.)
d) Obtain the bode plot of the transfer function defined in c) and obtain the natural
frequencies of the system. Could they have seen in bode plot? (0.5 pt.)
e) Obtain the transfer function which relates the current with an input voltage in the motor
and obtain its step response. Define the steady state value and settling time (1 pt.)
f) Represent the system in a block diagram and obtain the step response of c) (0.5 pt.)

Extra 0.5 pt. Define a low pass filter circuit which could be applied in the input voltage in order to
obtain and input signal only with ω1
 Ejercicios
1 1 2 2
m=2 Kg, k=1000 m=0.5 Kg, k=200 J1=5x10-3 Kg-m2, J1=2x10-3 Kg-m2,
N/m, c=2 Ns/m N/m, c=2 Ns/m J2=J3 =1x10-2 Kg- J2=J3= 4x10-3 Kg-
Kf=0.5 N/A, La=1e- Kf=0.4 N/A, m2, m2,
3 H, Ra=10 Ω, La=2e-3 H, Ra=5 N1=2, N2=1.5, N1=3, N2=2, cr=0.2
Código ω1=10 rad/s Ω, ω1=5 rad/s cr=0.1 Nsm/rad, Nsm/rad, kr=50
ω2=100 rad/s. ω2=50 rad/s. kr=100 Nm/rad, Nm/rad,
Kt=0.3 Nm/A, Kt=0.5 Nm/A,
La=5e-3 H, Ra=5 Ω, La=2e-3 H, Ra=10
ω1=15 rad/s ω2=60 Ω, ω1=20 rad/s
rad/s. ω2=80 rad/s

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Usar en lo posible hojas blancas para la parte escrita y cálculos completos con letra clara. La
obtención de ecuaciones de movimiento puede realizarse con alternativa Newtoniana o
Lagrangiana. Especificar las funciones de MATLAB usadas. Colocar su nombre y código en todas las
hojas. Colocar gráficas con la leyenda y ejes correspondientes. Guardar EN UN SOLO ARCHIVO con
la siguiente ruta y formato:

Examen#_Mecanismos_Apellido.pdf