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ME 4183: Theory and Design of Mechanical Control Systems

First Exam - Fall 2022
100 pts

Instructions:

• SET CELL PHONES SILENT/ DO NOT DISTURB

• DO NOT OPEN this exam until you are told to do so.

• You will have exactly 1 hour and 20 minutes to complete this examination.

• You may use your notes and your textbook during the exam.

• You may use your calculator and/or MATLAB on a personal computing device.

• Use full sentences to explain your work when necessary.

• Show your work step by step. An answer with no work risks zero credit.

• Do not communicate with anyone during the exam.

• Work only on the front side of any page . Extra paper will be available from the proctor if
necessary. Each extra sheet of paper should relate to one and only one exam problem.

• For multiple choice problems, identify the best answer by filling in the bubble next to it.

• If you get stuck on any problem, move on to the next one and return to it when you have
completed the remainder of the exam.

• In your own handwriting, you must write the honor pledge, "I have neither given nor
received any unauthorized aid on this examination." Sign this page next to the statement.

Honor Pledge:
~ \ OV"\ noY
\Or\ ~°'-\\~"s (l,
W\(.,\'~Q./1
~X,~w.A- "'"°t'\OV\ •

<Your Signature>

I
 Time Domain (t ~ 0) Frequency Domain

f(t) L(f)(s) = i~f(t)e - st dt

f(t) = r,- 1(F)(t) F(s) = L(f)(s)

ag(t) + Ph(t) aG(s) + PH(s)
f(t - T)R(t - T) e-sTF(s)
d
tf(t) --F(s)
ds
d
d/(t) sF(s) - f(o-)
d2
dt2 f(t) s 2F(s) - sf(o-) - {'(o-)

f /(r)dr
1
-F(s)
s

e - atf(t) F(s + a)
{(at) (1/a)F(s/a)

lim f(t) lim sF(s)

t -+o+ S-+OO

lim f(t), if limit exists lim sF(s), if F(s) stable

t-.oo s-.o

Impulse o(t) 1
1
Unit Step, R(t) -
s
1
e - at --
s+a
n!
tne-at
(s + a)n+ 1
n!
Ramp, Parabola, etc., tn -5 n+1
w
sin(wt) s2 + w2
s
cos(wt) s2 + wz
Aw+Bs
(A sin(wt) + B cos(wt)) sz + w2
w
e-at sin(wt) (s + a) 2 + w 2
s+a
e-at cos(wt) (s + a) 2 + w 2
Aw+ B(s + a)
e-at (A sin(wt) + B cos(wt)) (s + a)2 + w 2
Bs+C
e-at ( -waB sin(wt) + B cos(wt) )
(s + a) 2 + w 2

ME 4183 F'22 First Exam 1

1) (18 pts) Identify the input and output of each of the following control systems, and then
determine whether the control system is open-loop or closed-loop. Hint: Look for key
phrases or words in each statement which can be identified as the input and output.
A. A user selects a desired temperature setting labeled '5' on a control knob of an electric
range (stovetop). The system produces heat by cycling the heating element on for 30
seconds (timed) and off for 30 seconds (timed).
B. A user programs a mechanical arm to move to a desired angle at a joint in the arm. The
robot controller measures the angle with an encoder, compares this value to the desired
value, and uses the difference to determine the correct actuating signal sent to the motors.
C. A float valve regulates the water level in a tank to a desired level. The float stays on the
water surface, which measures the level, and the float height is converted by a
mechanical linkage to the opening and closing of a valve which controls the inflow of
water to the tank.

System Input Output Open/Closed

Loo
A des·,, hect;t e"e"~j 0 r-. bl)r
B ~€6~V"e.t\ ,()~'"'~(.\~\~ to'<9 u.e c\o~eJ (\7\)r
' e. ~·
C f \ ocJ., \-\e,~\lr \J~\ \J e.
e_~ O'<
~, ~-e...
c\os~~
C\ox.J. 'oo p

2) Select the choice which best answers each of the questions below by filling in the circle
completely next to the answer.

2A) (2 pts) What operation in the Laplace domain (s-domain) is equivalent to taking the time
derivative in the time domain?

Multiply bys

0 Divide bys

0 Divide by e-s

0 Multiply by e-s

0 Adds

ME ➔ 183 F' 22 First Exam

2B) (4 pts) Write the polynomial s 3 + 35s 2 + 350s + 1000 in factored form.

0 (s 2 + 10s + S)(s + 20)

0 (s - l0)(s - S)(s - 20)

(s + S)(s + l0)(s + 20)

Q (s + l000)(s + 350)(s + 35)

2C) (4 pts) Find the inverse Laplace transform, y(t) = £- 1 {Y(s)}, of

100
Y(s) = (s + 6) 2 + 100
0 e- 6 t sin(l0t)

0 1ooe- 6 t cos(l00t)

10e- 6 t sin(l0t)

0 e- 6 t(0.94 sin(l0t) + 100 cos(l0t))

3)(12 pts )For each of the mec h amca

. l sc h emat1c symbo ls be1ow, fll . hetabl e.
1 mt

Schematic Symbol Time-domain equation Impedance

Z (s) = X (s)/F (s)
X
.. '/,Ls)_ )
r+
-- f(;\') -----
&F ~'f..H)
ft~)
MS.,_

O~ k~C~) - f@ ic~) =- _L
F +-
le X ,.I
J\/Vv----+ F -f(5) ~
k

IC X ,.I
o =- b~- -f~ X<s) - l
F +- -i}-- ---+ F ,f(~)
\:,5
b

ME 4183 F'22 First Exam

 4) (30 pts) A system is modeled by the differential equation

dzy dy du
10 dtz + 70 dt + 100y = 15 dt + 10u
A) Identify the system transfer function G(s) = Y(s)/U(s).
B) Solve for the output y(t) if the in p ut u ( t ) is
are zero. . th e umt
. step mput
. and all initial conditions

_j
J...
+l 0~ t Ioo j ==- 15 ch,.. t- I u t.t.
c,tt~ol.t cit
~.j,"':5 l "'fI c_ t2. -\ti."'-'~.,_ ;
(I~ 1. {!.>} - ,S'(<~)-:,('(o~,(10~ lc~)-'ftojt IO o'f c,~y Ii~ \.IU)
- lA,loJ) t IO '\A(~)
~ c.~4t. ~ ~
.( 'A.i., h ~ Y-1!:- "2,.12.J)V •

\0~.2 \u,) + =/-Os le~) + \ul)'(<.,~) =- l.S s \,\Cs)-\- \o\,\cs)

\L>) [ \ o s 2. + l O• ~ \ o o J :. \,\ (s) ( \5-S +I u J

Grs) = f(s; = \Ss +\u ......_
l) CS>) \Ct• -\- 01 t \ct)
e) \~1 ~ \_ . ~£s+\O
s \05 '+1° s t \u ()
le~; -:: : \Ss+ 1_o_ _ _ -- l SS.lc \ C
s"(sf =t)t~+ S )
5'(\0!1...\-lOi-\- \~o)
lSs-\-\0 : A t _s _ + _c:.__
s+ s
s0+~C~+s)
A=
s
l'=>s-t \ o
<2_+:l)Cs+s)
l
s-+2.

s-)o
:=: \

ME 4183 F' 22 First Exam 5

 \S ~ r\ o-=- A g
~ C.
S(ST~-ts) s ~t ~+s
g :: ISs;- lo
S (s+ S) t~ -';). )0
-~

C - \5s 4- I O 1
sc~~) ~~-s
1c~) :: ..L-\- J0 _ - \3
s 3(!>\~ 3Cs+~)
Tf leii"'J lc.y k<.t. \"' ve i- t ~ ; i e-fet'e Y" ~"' j i:' ~b Ie.
(~ "= Vvli') t ~ e-2 tv.~) - Q e°
st-
l.l li')
3 3
10?.:: I +E-e"~t_ ~ e-st
3 3

ME-+ 183 F' 22 First Exam

6
 5) (30 pts) The schematic below is a model of an electrical circuit. Find the transfer function

-\ot>f [;I_

~ T~c~) + _!_ I!l~J

c, s

- j_ I1l)j t (~ i _L) l;i_CS) - 0 ©

c,s c,.s
\ 14 +~~
..!... t L,s V ;~
T V;~
-X6)= _, --
u~· ~
r\Ate,
c.~"'tZX ~
~
--
els
0
c..,s
6
)
b

ME-+ 183 F' 22 Fir'.-it Exam 7

 Iic&) =- v,·"' ;< ,
-
sc.i<s) D
.6 ;:::. fll 1-¼~
l.. + L, s - l.
~ I .S

- J_
C ,.s

6 = Ri 2. + ~ + ~ + U + ~l;s + L.s _
c, .s c, s /:s?.- c\ s
.6 ~ ~ (~ t ~ -+ L &) + h_ 1
C.,S C,j

b ~ ~ (i<ic,s -+ ~ +Lc,s~ L,.s

L~{~) _ ____
I _______ .,

-
sc, lL,<t,s'+ ~c.,s-1-Q.) + ~Sc,
\t,
rz_,

J\IE-l-183 F'22 First Exam