MIDTERM EXAM CONTROL ENGINEERING

PART A. Electrical Systems

Refer to the RL circuit in Figure. Find
a.

vo (t)

when

vi (t )

is an

impulse

b.

vo (t)

when

vi(t )

is a

step

Solution:
Voltage Divider

Vo ( s )=
a.

When vi(t)= impulse

L1

1
R
R
L
R
Vo ( s ) =
=
=
Ls+ R L s + R 1
R
L s+
L
L

()

vo ( t )=

b.

Vi ( s ) R
Ls+ R

R
e
L

Rt
L

When vi(t) = step

1
R
R
L
R
Vo ( s )=
=
=
2
s (Ls+ R) ( L s + Rs) 1
R
Ls s+
L
L

()

Vo ( s )=

( )

( RL )

Ls s+

( )

A
B
+
Ls
R
s+
L
A=L ; B=1

L1 Vo ( s ) =

( RL )

Ls s+

University of San Carlos

Engr. DJ Amora, MEng

A
B
L
1
+
=
Ls
R Ls
R
s+
s+
L
L

MIDTERM EXAM CONTROL ENGINEERING

(RtL )

vo ( t )=1e

----------------------------------------------------------------------------------------------------------------------------------PART B. Electronic Systems

1.

Vo ( s )
s
=
Vs ( s ) s+10

Realize the transfer function

using the circuit in Figure. (Y =

admittance)

Let:

Y 1=s C1 ; Y 2=

Choose:

R1=1 k

1
, Y =s C2
R1 3
and determine

C1

and

C2

Solution:

KCL at Node Vb: Ia=Ib+ Ic

Nodal : ( Vs ) Y 3=V o Y 2V o Y 1

( Vs ) Y 3=V o ( Y 2+ Y 1 )

( )(

Y 3
s C2
s C2
Vo
=
=
=
Vs ( Y 2+Y 1 ) 1
1
+ s C1
+s C1
R1
R1

University of San Carlos

Engr. DJ Amora, MEng

1
C1
1
C1

MIDTERM EXAM CONTROL ENGINEERING

Vo
=
Vs

s C2
C1

( )
s+

1
R1 C1

1
=10 ; R1=1 k ; C 1=C2=100 F
R1C1

------------------------------------------------------------------------------------------------------------------------PART C. MECHANICAL SYSTEMS

Write the equations of motion.

Figure
1

( M 1 s 2+ B1 s + K 1+ K 2 ) X 1 ( s )K 2 X 2 ( s )( B1 s+ K 1 ) X 3 ( s )=F a ( s )
K 2 X 1 ( s ) + ( M 2 s 2+ B2 s + K 2 ) X 2 ( s )B2 s X 3 ( s )=0
( B1 s + K 1 ) X 1 ( s )B2 s X 2 ( s ) + ( M 3 s 2+ ( B 1+ B2 ) s+ K 1 ) X 3 ( s )=0

University of San Carlos

Engr. DJ Amora, MEng

MIDTERM EXAM CONTROL ENGINEERING

( M 1 s 2+ B1 s + K 1+ K 2 ) X 1 ( s )+ ( B 1 s+ K 2 ) X 2 ( s )=0
B
( 1+B 2)s + K 2
2
M2 s +

( B1 s+ K 2) X 1 ( s ) +

M
( 1 g)/ s
( M 1 s 2+ K 1+ K 2 ) X 1 ( s ) K 2 X 2 ( s )=F g 1 (s)=
M
( 2 g)/ s
K 2 X 1 ( s ) + ( M 2 s 2+ Bs+ K 2 + K 3 ) X 2 ( s ) =F g 2 ( s)=

Figure
2

University of San Carlos

Engr. DJ Amora, MEng

MIDTERM EXAM CONTROL ENGINEERING

Note: displacement x2 opposes applied

force

Note: displacement caused by

gavitational forces in M1 and
M2

SOLUTION:

University of San Carlos

Engr. DJ Amora, MEng

MIDTERM EXAM CONTROL ENGINEERING

------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------PART C. Electromechanical System, Systems with gears, mechanical rotational

A dc motor develops 55N-m of Torque at a speed of 600 rad/s
when 12 volts are applied. It stalls out at this voltage with
100N-m of torque. If the inertia and damping of the armature
are 7 kg-m2 and 3 N-m s/rad, respectively, find the transfer

function,

G ( s )=

L (s )
E a (s)

, of this motor if it drives an inertia

load of 105 kg-m2 through a gear train, as shown.

@ Similar Triangle :
University of San Carlos
Engr. DJ Amora, MEng

45
55
=
600 noload 600

MIDTERM EXAM CONTROL ENGINEERING

noload =1333.33

T stall=

K t ea
Ra

noload =

T stall 100 K t
=
= =8.33
ea
12 R a

ea
Kb

K b=

ea
noload

12
=0.009
1333.33

For Jm and Dm :

( J a s2 +Da s ) m =T m

( 7 s 2 +3 s ) m=T m

J L s L =T L

105 s 2

105 s 2

105 s L =T L

N 1 N3 2
=T m
N2 N4 m

25 ( 12 ) 2
=T m
12(72) m

J m=7 +105

25 ( 12 )
=19.659
12(72)

Dm=3

m ( s )
=
Ea( s )

but : L =

N 1 N3

N2 N4 m

Therefore:
L ( s)
Ea( s )

0.424
s ( s+ 0.156 )

University of San Carlos

Engr. DJ Amora, MEng

)(

N1 N 3
0.147
=
N 2 N 4 s ( s +0.156 )

( 8.33 )
( 19.659
)

s s+

1
( 19.659
)(3+ 8.33 ( 0.009 ) )]

0.424
s ( s+0.156 )