MASSACHUSETTS INSTITUTE OF TECHNOLOGY Depart,rnent of Electrical Engineering arlrl Cornpllt,er Science

Spring Terrr~ 2007 Prol~lern 2 Set

Problem 1: For tlle follor3-ingfor\%-arrl-path trarlsfer fim<:tionG ( s )arlrl feerll~ack-pat11 trarlsfer fim<:t,ion ( s ) H

find t,lle st,anclar(i trarlsfer filrlct,ior~s ( s ) ,L ( s ) , Lo(s), ancl C / R ( s ) ,ancl simplify tllerr~ir~t,o T ratios of polynomials. Also. find t l ~ e cllaracteristic eql~at,ion ( J )and sirnplify it ir~to sirnple polynomial. P a.

T(s)=-GH L(s)=GH
Definit,ions:

Loop Trar~srr~issior~ Loop Trar~sfer Fim<:tion Norrrlalizerl Loop Trarlsfer Fim<:tion Closecl Loop Transfer Fl~nction

Lo(s)=L(s)/K C/R(s)=-

Problem 2: For t,lle systerrl s110rnr11)elorr. rleterrr~ir~e t l ~ e hor3fract,iorlal change in <:lose(i-loo11 gain (iepenrls on fractiorlal changes in tlle pr%rr%rrleters B. ancl C . A,

Problem 3: Sirr~plifjr follorrir~g t,lle t~lockrliagrarr~ir~t,o single l~lock: a

Cite as: James Roberge and Kent Lundberg, course materials for 6.302 Feedback Systems, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu/), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].

Problem 4: Derive t,lle l~lock rliagrarr~s t l ~ e arnp circuits l)elor%-. for 01) .issllrr~ingillat t,lle ol)-arrlp gair~ A(.?) is cor~st,ar~t goes to infinity, (in t l ~ e and arlsrrers clleck r r i t l ~ expectations'!

Problem 5: For t,lle follorrir~g01) arnp circuit, dram the l)lo<:k(iiagrarn arlrl rnanipillat,e it i r ~ t o the ilnity feerll~ackforrr~..ilso, r r l ~ a tis t l ~ e ideal trarlsfer filnction?

Problem 6: Sal Lektra wants to t)ililrl an electric car ilsirlg a DC rrlotor t,llat he foimcl on Jllnl<yar(i11-ars. He rrlnilr~ts rrlot,or in a. car, r r i t l ~ shaft, clirectly driving t l ~ e t,lle the wheels. The wheels l ~ a v e (liarr~eter a n t c of 22 inches. W ~ e he tor%-s l ~ e ar 1)ehincl his pickilp a t 50 rnph, he rrleasures 80 volts a1:ross the rrlotor terminals. tV11e11 80 volts is connect,e<lt,o t,l~e rrlot,or terrninals, it t,akes 40 secon(is t,o reach 49 rnph frorr~ standing start,. Ignore friction and in(ii~ctancr, rerr~ernt)er a arlrl illat there are S280 feet in a rnile.

Cite as: James Roberge and Kent Lundberg, course materials for 6.302 Feedback Systems, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu/), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].

Problem 7: . sq~are-rooting i <:ir<:~~it, i r ~ gtechniqlle sirrlilar to t,llat of t l ~ e ~ls a divider sllo~vr~ l e c t , ~ r eis in , an shor3-n t)elom. 11-hat is t,lle ideal i n p l l t , - o ~ ~ t relationship for this circuit (ass~lrning ideal 011 arr~p)? p~~t, 11-hat is t,lle i n p ~ ~ t - o ~ ~ t p l ~ t filrlct,ior~ t l ~ e arr111 trarlsfer fim<:tion is t,rar~sfer if o11

Det,errrlirle t,lle range of i n p ~ voltages for w l ~ i c l ~ sqllare rooter is st,at)le for this A(.?). How does ~t the i n p ~ level affect t,lle speed of response? ~t

VA

+
vo

R
vx Multiplier conn,ed?d as squarer clrcult
r;y

-,

= 'I:,?] /lO

Problem 8: . DC rrlot,or is t,o l ~ 11sec1in a posit,ion servornr<:hanis~r~, illere is a choice as t,o llorv t l ~ e i e l111t i to rr~acllir~e 1)e (:nrlrle<:ted. Tlle lnr%(i r%r~nertia conne<:tr(i the rrlot,or throllgh a flexil~le(sprirlgy) car1 is shaft. Tlle rrlot,or car1 t)e connect,e<las an arrnat~~re-controllprl fielrl rrlacl~irlesupplied with cor~star~t rrlacl~irle s~lppliecl r%-it,h c ~ l r r e r frorr~ (:11rre11tsollr(:e. nr r%sa field <:ontroller1 ~ t r% <:onstantarrrlat,llre <:~lrrent, frorr~a <:~lrrent source, as shor3-n in Figures 1 arlrl 2. These figures shnr3- t,lle arrr~at~~re-~:or~trolle~l arlrl fielcl-controllecl <:onnections,respect,ively. 11-hen operate11 in t,lle arrnat~~re-controllprl mode (Figure l ) , a. rrrxrial~lrvolt,age is applierl to the arrrlatllre as an i n p ~ ~ t the I I I O ~ O ~ cllar~get,lle shaft ~ ~ n s i t , i n r ~ . t , ~ t~ .ilternatively, the r~rxrial~le <:ontrol t,o voltage is applierl to t,lle fielrl trrrr~ir~als r-ary the sllaft posit,ion rvller~t,lle rrlotor is operated in t l ~ e fielcl-controllecl rrlorle (Figure 2). Derive the trarlsfer filr~ctior~s t,llat relate the arlg~llarrlisplacernent of the load inert,ia. t o the input, voltage for t l ~ e trro (lifferent cor~fig~lratior~s 11 illl~st,raterl Figures 1 and 2. Make 1 1 variat)le rlarrles in (~~referat)ly for you need in t,lle l)lo<:krliagrarns. Carefillly corlsist,er~t r i t l ~ la11 hanrlo~~ts)
q~lantities r the specify ~ ~ 0 1 1 1
<:hoi(:es.

Cite as: James Roberge and Kent Lundberg, course materials for 6.302 Feedback Systems, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu/), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].

Motor Field Winding

Motor Armature

Figure 1: Arr11at11recc111t,ro1

+-=-;I
if Ra v I a 0 T Motor Field Winding

La

; 2. ~$
J
Jload

GmIfw = vm

Motor Armature

Figure 2: Fielrl cor~trol

Cite as: James Roberge and Kent Lundberg, course materials for 6.302 Feedback Systems, Spring 2007. MIT OpenCourseWare (http://ocw.mit.edu/), Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].