MTE 360 – Automatic Control Systems, W’08

University of Waterloo, Department of Mechanical & Mechatronics Engineering

Midterm Examination / February 15, 2008

Exam Duration: 8:30 – 10:30 a.m., Exam rooms: CPH 3374, CPH 2387
Closed book, one single-sided formula sheet, calculator and ruler allowed.

Note1: Write your name and number on this sheet. Question and formula sheets will be collected.

Question #1 (10%): Using block diagram algebra, simplify Figure 1 to obtain the transfer function y ( s ) / r ( s ).
- +
R F
r(s) + + + u(s) y(s)
K - G
H
Figure 1: Block diagram for Question 1.

Question #2 (30%): Analyze the stability of the systems which have the following characteristic polynomials:
(a) a ( s ) = s 4 + 5s 3 + 10 s 2 + 20 s + 5 (5%)
(b) a ( s ) = s 4 + 2 s 3 − 5s 2 + 13s + 7 (5%)
(c) a ( s ) = s 5 + 5s 4 + 14 s 3 + 30 s 2 + 45s + 25 (10%)
(d) a ( s ) = s 4 + Ks 3 + s 2 + s + 1 (10%)

(a) Step Response #1 (b) Step Response #2

200 200

150 150

100 100
Coulomb Friction
50 50
Td(s) Tcoul sgn( ) 0 0
0 1.0 2.0 3.0 0 1.0 2.0 3.0
Tm(s) -
1
6.0 6.0
+ Js+B
Inertia and
Tm [Nm]

Tm [Nm]

4.0 4.0
Viscous Damping
Figure 2: Drive model. 2.0 2.0

0 0
0 1.0 2.0 3.0 0 1.0 2.0 3.0
time [sec] time [sec]
Figure 3: Velocity response for different motor torque inputs.

Question #3 (60%): A realistic model of a servo drive system will include not only the inertia and viscous
friction, but also the influence of nonlinear Coulomb friction, which can be regarded as a constant torque
disturbance opposing the direction of motion. This is represented with the drive model shown in Figure 2,
where J [kgm2] represents the motor inertia, B [kgm2/sec] represents the viscous damping, Tm [Nm] is the
motor actuation torque, Td [Nm] represents the disturbance torque, Tcoul [Nm] is the magnitude of the
Coulomb friction, and ω [rad/sec] is the motor’s angular velocity. The sgn( ) term is a sign function to ensure
that the disturbance torque always opposes the direction of motion. Hence, sgn(ω) is 1 when ω > 0 , it
becomes 0 when ω = 0 , and assumes the value of − 1 when ω < 0 .

MTE 360 Midterm Examination - p. 1 / 2

(a) Two step response tests have been conducted to identify the drive parameters: J , B , and Tcoul . In the
first test, the applied motor torque amplitude is Tm =4 [Nm]. In the second test, the amplitude of Tm is 5
[Nm]. The velocity was measured using a tachometer. The results of these tests are shown in Figures
3a and 3b. By examining these plots, determine the numerical values of the viscous damping
coefficient ( B ), the Coulomb friction torque ( Tcoul ), and the motor inertia ( J ). (15%)

A different servo drive, which has a similar mathematical model to the one shown in Figure 2, has been
identified with the following parameters: J =7x10-3 [kgm2], B =0.03 [kgm2/sec], and Tcoul =1.6 [Nm]. In
the next subsections, use these parameters in your calculations.

(b) The objective is to control the velocity of the drive using a PI (Proportional–Integral) controller. The
control law has the following expression: Tm = ( K p + K i / s ) ⋅ [ω ref ( s ) − ω( s )] , where ω ref (s ) [rad/sec]
represents the desired angular velocity. Draw the block diagram for this closed loop system. (3%)
(c) Neglecting the dynamics related to the Coulomb friction disturbance, design the PI controller to yield a
pair of closed loop poles with a natural frequency of 80 [Hz] and a damping ratio of 0.9. Plot the closed-
loop pole and zero locations in the s-plane. Considering only the effect of the closed-loop poles, what
are the expected values of rise time ( t r [sec]) and overshoot ( M p [%]) to a velocity step command?
(19%)

For the closed-loop control system, consider the combined effect of the velocity command ω ref (s ) and
the Coulomb friction disturbance torque Td ( s) = Tcoul sgn(ω) . Compute the steady-state velocity
regulation error during:

(d) constant velocity motion at 100 [rad/sec], (15%)

(e) constant acceleration motion at 3000 [rad/sec2]. (8%)

Note2: In Question 3, parts (b)-(e) can be solved independently of part (a).

Note3: If you get stuck in one part of a problem and need to make an assumption to continue on, state
your assumption clearly!

Note4: In your solutions, show your derivation and calculation steps clearly! Where applicable, substitute in
the numbers after deriving the analytical expressions.

!!! Good Luck !!!

MTE 360 Midterm Examination - p. 2 / 2