Control Engineering

Assignment

Complex Engineering Problem

m, fd fd
J,R J,R
fd 0

�+
•
k, r
Jr,Rr
2L

The system represented in the picture is placed in the vertical plane. The mass m is moved
horizontally by the rotor of a DC motor (radius Rr, inertia Jr, motor resistance Ra, motor inductance
La, motor constant K'I') through two pulleys. The radius of each one of the two pulleys is equal to R,
while their inertia is equal to J.
Consider the friction force between the mass m and the ground; the behaviour of the friction
coefficient fd with respect to the mass velocity is represented in the plot.
The stator of the motor (inertia Js) is connected to the ground through two spring-damper systems.
The stiffness of the two springs is equal to k, while the damping coefficient of the dampers is equal
tor. The distance between the two spring-damper systems is equal to 2L.
Consider La = 0 and the stiffness of the springs k as infinite:

1. Write the equation of motion of the electro-mechanical system; linearize it around a steady
state velocity v and analyse the system stability in the time domain.
2. Introduce a Proportional control on the velocity of the mass m, acting on the motor voltage.
Compute the solution of the equation of motion, considering a step reference and null initial
conditions. Then, draw the time response of the system and discuss how does it vary with the
control gain kp .

Consider now La f:. 0 and the stiffness of the springs k as infinite:

3. Write the linearized equation of motion of the system, considering a Proportional-Integral

control on the velocity of the mass m, acting on the motor voltage.
4. Draw the block diagram of the system described at point 3 and compute the open-loop and
closed-loop transfer functions.
5. Analyze the system stability in the Laplace domain, considering both the cases of stable and
unstable uncontrolled system. Draw also the root locus for the analyzed cases.