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1) (State-Space Revisited): Find the transfer function for the circuit used in ECE402 - Lab #5.
1M
R
R2
Y
10k
2 741 3
-100U
0.01 6
100k
100k
100k
B
0.01
C
0.01
100k
D
0.01
741
100k
R k= 1M
sC + 2 V A (sC)(100)U 1 V B = 0 R R sC + 2 V B 1 V A 1 V C = 0 R R R sC + 2 V C 1 V B 1 V D = 0 R R R sC + 2 V D 1 V C = 0 R R
1b) Write these equations in state-space form: Solve for the highest derivative and rewrite...
sV A sV B sV C sV D
2 1 RC RC 0 0 V A 100 1 2 1 = RC RC RC 0 V B + 0 1 2 1 0 RC VC 0 RC RC 1 2 V D 0 0 RC 0 RC
sU
R 2 Y= R VD = 0 0 0
R 100k
VA VB VC VD
+ [0]sU
Y = G sU = s G U
R 2 R 2 Y= R sV D = R 0 0
1 RC
2 RC
VA VB VC VD
+ [0]U
So...
sV A sV B sV C sV D
2 1 RC RC 0 0 V A 1 2 1 = RC RC RC 0 V B + 1 2 1 0 RC VC RC RC 1 2 V D 0 0 RC RC
1 0 0 0
Y= 0 0
100R 2 C
200R 2 C
VA VB VC VD
+ [0]U
A = -2000 1000 0 0 EDU EDU EDU EDU EDU 1000 -2000 1000 0 0 1000 -2000 1000 0 0 1000 -2000
Transfer function: 1e011 s + 0.01664 ---------------------------------------------s^4 + 8000 s^3 + 2.1e007 s^2 + 2e010 s + 5e012 EDU zpk(G) Zero/pole/gain: 100000000000 s ---------------------------------(s+1382) (s+2618) (s+3618) (s+382) EDU
2) Cart and Pendulum: A rocket is to be moved from a hanger to a launch pad. The base is to be controlled so that the rocket remains upright. First, find the dynamics of this system. A simplified model is shown the right. 2a) Find the position of the two masses as a function of X (cart position) and Q (angle of the rocket)
x1 = x y1 = 0
x 2 = x + L sin y 2 = L cos
. . . x 2 = x + L cos . . y 2 = L sin
1kg
2b) Find the potential energy of this system (assume g = 9.8 m/s2)
PE = PE 1 + PE 2 PE = 0 + m 2 gL cos
2c) Find the kinetic energy of this system. Include both translational and rotational energy.
Q 1m
. . .2 .. 2 2 KE = 1 m x 2 + 0.65m 2 2 1 x + L + 2x cos
2d) Find the dynamics of motion using LaGrange formulation.
3) Ball and Beam System. A ball berring is to be balanced on a beam (similar to the shoot-the-moon game). First, find the dynamics of this system. 3a) Find the position of the ball and beam as a function of X (position of the ball on the beam) and Q (the angle of the beam) ball:
Ball mass = 1Kg Beam mass = 1kg Beam length = 1m X
(x1, y1)
x 1 = x cos y 1 = x sin
beam:
Q Pivot
T F
gravity = 9.8m/s
J=
1 mL 2 12
angle =
3b) Find the potential energy of this system (assume g = 9.8 m/s2)
PE = mgx sin
3c) Find the kinetic energy of this system. Include both translational and rotational energy.
2 2 . 2 1 . . . . m x + x KE = 1 J + + 0.15 cos x sin sin + x cos 2 2 . . .2 2 2 KE = 1 J 2 + 0.65m 2 x + x