Professional Documents
Culture Documents
Question 2: The mechanical part of a read/write head in a hard disk drive is shown below. A DC
motor turns the Read head through a thin flexible shaft, which can be modelled as a torsional
spring (stiffness k and damping b). The motor inertia, I1, sees the motor commanded torque MC,
and Disturbance torque MD. The upper part of the actuator has an inertia I2.
(e) Assuming that disturbance load MD is zero, write down the equations of motion for both
inertias.
(f) Find the transfer function of the output angle of the Read head, 2(s), to the input torque
MC(s). Gp(s) = 2(s) /MC(s).
(g) Assume that this plant is used in the unity feedback configuration with a proportional
controller having gain kp = 1 as shown in Figure 2. Consider all the parameters (inertia,
damping, stiffness, etc.) have a value of 1 and find the closed-loop transfer function from
the reference input R(s) to output Y(s)? Use Matlab to find the unit step response.
(h) What is the steady-state output yss(t) and steady state error ess(t), if a step input is used.
R(s)
U(s)
E(s)
+
-
Kp
Gp(s)
Y(s)
Figure 2.
Question 3: A light-seeking control system, used to track the sun, is shown in Figure 1. The
output shaft, driven by the motor through a worm reduction gear, has a bracket attached on which
are mounted two photocells. Complete the closed-loop control system, via drawing a block
diagram, such that the system follows the light source (Explain the role of different elements in the
control loop). A photocell is mounted in each tube. The light reaching each cell is the same in both
only when the light source is exactly in the middle as shown. Therefore, if the sun is not in the
middle, one receives more light than the other.
Figure 1
Question 4: Find the overall transfer function from input R2(t) to the output Y1(t) in the following
block diagram. Show the steps of block simplifications.
Question 5: In a hard disk, a DC motor is used to position the read head over the reference track.
The read head is assumed to be rigid; hence, neglecting the flexures deflection. Assume that the
read head is directly connected to the output shaft of a motor with the total inertia of Jm= 1 N m
s2/rad and viscous friction coefficient of b=2 N m s/rad. The motor torque is proportional to the
current via torque constant Km = 5 Nm/A. The Back EMF voltage is proportional to the shaft
angular speed via a constant Ke assumed to be zero in this problem. The armature resistance is
R=1 Ohm and Inductance is L=1mH.