Tubriak 4 Aathemchead. Modelling. Medellin, Mechaniol systems i) lingo motion ements ) Spring Wi) i Xo xX th) = Kr) 2) Damper b aw lok It) = ’Os-*) 3) Mass cal mi S fae = m x bichwnlb) flt)- bk = mx1) Find the transfer function X2(s)/F(s) of the following system. B2 = F assume zei- inhal Grdikens X, ©) = ¥\(0) = Zero i,(0)= ¥a(e)> 20 + x1 Areey Mache’ second law ot My aforle = AX . 4 8, (i,-0) - Ba (Ki Ke) = Mi) C Laplace hans out . FCs) - 8) 8X(E) ~ ByS Ki) + Bd x pan 0 xfaf ase @ob)4]- KLE Newhn's seond law at A, & forle = My xX, o- K(%279) - 6B, (kar) = Ma ut KK - Bal KF x, (8)8)= Ape xds) % (3) [re + Bat k] = %,(9/Ba §] AS'+BStK X= 26) “Re @sub y® in® 644 B18 +K 2 4(6,462)8} - 5) B28}= FS) 16) [ ES (616)8] - 6) x0) _ustesasendlans’s (04 6)4] _ 9,5] = 70) B28 6,8 (3) = 2 _ er FOS) (AS iS +K) [M8 + (61+ 2)4] - Be 4 2) Find the transfer functions X,(5)/U(s) and Xx(s)/U(s) of the following system. + Assume zea inked Gaditions X,(0) = Xi (0)= ze , K,(0) = X2(0) = 2 Mewhen's seGnd law at my Sforle =m x we KX) - by x- K3 %- X) = m x oN Ky (8) - bs8 %l5) - k3,( x, (8) - Xals)) =m 8" HE)X05) [ mist bs + (41 +43) | - Xals) {63} 2 vl) 0 Ace Neshn's second lasw at my S fora = MM X o- Ky Xo — bad — Ka Xe Mi) = m%2 (ut O- Ky Mal) - b25 % 6) ky (20) - 4) mes HU) (9 [rs boi + (Kit)| -x(s) (Ks}* © (oasttes+O")) 3449) © 3 XS) = ; Sub by ® inO (rasteuse ort) als stab St (kitk py “Xals){ 3 }-vls) 3 %(5) (nsisnst ork) samse(atl) s\- u(S) ky Ky X25) . 4 (iar ks))( mst bse (Kit Hs) — Ke ub) ~ (mst befon @) §@ sta bdt (ketKs) ) x (8) {ea b254 (Ket k;)) ky vO) ( ms's + (Kit Ks)-Ks m8 thst (Kirk) ) (om 534 bist (Ke +K3)-Ky Xs) = mils) (100824 84 (les v(5) 3) Write down the differential equations of the following system. Beely Mewhn's second law at Xi: fore =O w= Ki(X, -K) - 81 (% -X2)=0 Aeey Newhon's send law at Mi Sforle = My Xo. o- Ky (x2-X)) - B,(Xe -k ) - Ke (%- X3)-ByX- 85 (X2%) =H X Age'y Nushe's setond law at Mo 5 force = M2 Xz, . . © = Ko (457M2) - Bs X3-%2) ~ Ky (5) “By (X3)-Bs Us) M2 XsModelling, 4 Mechanical sy stems elements in 1 oo, T(t) = K(@- &2) Damper st ' 2, b z(t) = b(S, -&) ot Inesha 6 “bubin = Tope =Jo T- B@=JO4) Find the transfer functions 8;(5)/T(s) and 6(s)/T(s) of the following system. a ' A OT Oo ko a (as : # assume 220-initiel ondifins ©, (0) = Q(0) = zo , ©, (0) = ©, (0) = Zeno Mewhn's seen law at Ji ZTope = 32 O- 8,0, - Bz (Q -©2) - K,(@i-®2) = a © tT . Sal “er By $0(8) - Bal 806) ~ $05) Ki (2.8)-24) i ) Ki 2( [ae + (B,+62)8 +h] > 2 (a) SF | BSth _ @(s) 70 J, st+ (6:t62)5+ ky Newhn's send law at dp Stone = 1 Oe - T- B2(@2-@) - K (O2-©,) - Ky Oz = IeOe 2,(4) = Get =J,5O 118) ~ By (S@x ~ 80,) ~Kr (©2-©y) “Kae =H?©2(8) [* S+ B28 vo] - 0,63] B8* Ki} TA) fam @ 4@ osofasosvevn]- Seer vs a+ (8,+82)8+ Ki ove set ar A neath J, s+ (B1t82)5 +k axl), astm) _____ TOS)” (0, S4B28+(K, +h) \fB, + (Gtx) 5+) — (6544) from ® and Baa tk, 9(3)=—— 1 i og) ae [228 4B +(k, +k) \fa,S* + (6:t2)5+ K)— (5 +k)oO era Nona calle (oP amps :) opamp tales Vy =V_ > T,71.=0 Peli kel ot -" ferminel Tin = Ep Vin 7 Ve - Ne Ve 0 Zin 2h -- VE =Vy =O -O fond ,O zt5) Find the transfer function ¥2(9)V(s) forthe following systems R Ry Ry Q rf TLL + ~ + VCs) S os VCs) i We Hoklg eke ket + [Die ) . + i Time deamon Sloman \ | ye i R R --— fe i L > SL y= thy a Zot a FT. Le. Ri*s Ry 4 = Rid ge : * Rect! Ya. Ri Vv. _- 2 v zy = Rat dee Rsatl, Zi Rk sr Sct a etl? Rastet! seatt(Ri 8+) Vpe ae = te _ fk SR\C2DC machine cqahions — OF T= KEpTn E,> Kip q- KT, ae KY F-Ke Ee ‘agndue” “Bed Gakal “ast Rell “Gost: spe atl Grtvol “Gost: field” 6) Consider the system shown in the following figure. An armature-controlied de servomotor drives a load consisting of the moment of inertia JL.The torque developed by the motor is T-The moment of inertia of the motor rotor is Js. The angular displacements of the motor rotor and the load element are 8p, and 8, respectively. ‘Obtain the transfer function 6(s)/E\(s) and draw the block diagram of the overall system. Neglect friction, The gear ratio m=6/6m knowing that T=Kmle and es=ks Or KVL at the altnahut Circuits DC machine eppehiuns cise Ried L te ee ut | = Kn LO “ont: hell” pee Eye RIe + Ls Tq : nen i an WR) “Grit: held zeta) 4k “ “Ts4+R tn 10 (Ei -Kn®) © Ty ne“gear cats” n-2-- 2 MoT On On Ne y= Tn ¥°T, Aaty Newhon's send low Ta Jy ®, = Tey Wm Ta (5) = Tey > Mm Ym = ios a Tm 4 Block dhagast By setting beck agra reduchin me thor! nj el) 0 Ken “El 3 2 Ks Bla L3qs +8 Jes + Km36s FIGURE P2.13. Mot Dyas fhe block bg ‘and olin the {easter bachn 2 aL. y KuL at the field cram § the goose Ye ye yt yee ir it we He (%t4s) kv ot the otmmatuce croak 4 fle poehr vy = HG *%) + + Cyt¥) 4 Gtr y = 1, ( (ty tts+ Rytf) hi . ee wie ee gaohe “becpne fe hea is driven w= KEY S979 t KZ cmt“ IeGune fhe reator is held Gatalled * dg = ye +n by = 8,0" + Brnrechasial epabior Te = 8, (wm) = dy oir ve) Block diggram ye Tm —|ans| | gays Po Gyro ia F Tm) | Wn cL | iqS* bq {Mb x nky Km Ot) Sfp sa tp) [eye 5489) J) {oq3+69 J We8) In the speed control system shown in Fig. P-27, the generator field time constant is negligible. It is driven at constant speed giving a generated voltage of K, volts/field amp. The motor is sepa- rity eed eu tre wal pe aden K proce «treo newton-mvamp. The motor and its load have a moment of inertia J kg-m* and negligi- ble friction. The tachometer has K, volts per rad/sec and the amplifier gain is K, amps/volt. Draw the block diagram ofthis iam ed ‘determine therefrom the transfer fanction @isVE{s), where ‘wis the load speed. With the system originally at res, «control voage¢, «100 volts is suddenly applied. Determine hhow the load speed will change with time Given: = 6 kgm? K,= 4 amplolt K;,= 15 newton-miamp K, = 50 volta/amp R, = Lohm K, = 0.2 volts per rad/see (lint: K, » K; in MES units] com Mt Tachomelar y Aew(S) Ke ky Kr EG) Rats + Kr ky Katy Kr Ky bor fhe given example ols) _ _300__ Fi(s) 68 62-28 w(s) = 32 __ [vo _ __ 9090 6S + aes = S — S(Stl0.375) = NE 1093 + — ‘ 34 [0.375 w(t) = 4oooe 46000 [0.375 E %39» Consider the positional servomechanism shown in Fig. P-2.8. Assume that the input to the sys- tem isthe reference shaft positon dy and the ey-em outpt isthe load shaf parton @, Draw the block diagram ef th system indi¢ating the transfer function ofeach Beck. Simplify te biock diagram to bain 0,60) forthe closed lop system and also when the lop ta open (in open the op, the lead fear TE Outpt poentiometer driven by cis Gocannected tnd grounded). The paremciors ofthe sete are given below Senalirity of error detector, = 10 volvrad Cain of ac. ampiter, 18, = 90 vokaott Motor feld resistance, = 100 obma Motor eld inductance 1)~ 20 henry ‘Motor torque constant, K;= 10 newton-m/amp Moment of inertia of load, J; = 250 kg-m* Coefficient of viseous frietion of load. fi, = 2.500 newton-m per rad/see Motor to load gear ratio, 1n=66,/6,,)= 150. MN Aubse Load to potentiometer ger rats, (@cl@) «1. (Cx ©) Keka * Ma ‘Motor inertia and friction are neghigibe. 20, @ Rove) P (3) akehake On (8) (ip 8+8p (Tus + hy ) +1 kp Karsub. in the prwiowr exemple O(9 tee Oa (5) (208 +100) (0:15 + 0-001) #100 Vo = y y Ton em inl OF 2,6) - ake Ka Kr Oe(S) (pst Rp) (T'S +har) (ss. S) _ [00 i Onl) 5 (208440) (0.15 + 0-001)10. Apposition control of a de motor is shown in fig.7 Drgw the block diagram for this system towns assuming fh fhe slr her inetd ican @ end is Sudgeced bop =VG60 © Summing op-amp transfer function is Vo = —R UC? + PE) © Op-amp transfer functionis V1= —“2+vo , Tacho-meter transfer function V(wo) = Ke + wo where wo is the output speed of the de mer ey = oe Smt Ta, Ta-T = uy (ISB) v voi) Rt RAL A SlatRa* > Ko WNW RB R2 ~ AN la Ra pW : \. roo Tt vi TT date nee “* + ys ud 05 | V(we ) Fig?