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ES3E8 Precision Control Practice Sheet 4 With Answers

The document provides practice questions and answers related to precision control systems. (1) It asks to find the transfer function of a differential equation system under zero initial conditions. (2) It asks to write the differential equation for a block diagram and solve it for a given input. (3) It presents an inertia driven via a compound gearbox and asks to determine the equivalent inertia and damping by using reflected impedances.

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omer14new
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45 views

ES3E8 Precision Control Practice Sheet 4 With Answers

The document provides practice questions and answers related to precision control systems. (1) It asks to find the transfer function of a differential equation system under zero initial conditions. (2) It asks to write the differential equation for a block diagram and solve it for a given input. (3) It presents an inertia driven via a compound gearbox and asks to determine the equivalent inertia and damping by using reflected impedances.

Uploaded by

omer14new
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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School of Engineering

ES3E8 Precision Control Practice Sheet 4


To accompany the reading and exercises set out in the slides, here is some additional
information and some more practice questions. Answers are at the end of this sheet.

Question 1
An easy one to start…

(1) A system is described by the following differential equation

Under zero initial conditions, find the expression for the transfer function of the system.

(2) Write the differential equation that is mathematically equivalent to the block diagram
shown below. Assume that 𝑟(𝑡) = 𝑡 ! .
Question 2

An inertia is driven via a compound gearbox as shown in the figure below.

N1 = N3 = N5 = 21 teeth
N2 = N4 = N6 = 42 teeth
T1(s) θ1(s)
J1 = J3 = J5 = 1 kg
N1 J2 = J4 = J6 = 2 kg
D1 J7 = 22 kg m2
J1
D1 = D2 = D3 = D4 = 1 Nms/rad

N2 N3
J2 D2
J3

N4 N5
J4 D3
J5

N6
D4
J6 J7

Torque T1(t) is applied, resulting in angular position θ1(t). The reference directions of T1
and theta 1 are same with the positive direction of rotation for the x-axis in the standard
Cartesian coordinate system. The number of teeth on each gear is given (Nn). The load, J7,
and each gearwheel have an inertia as indicated. Though the gears are bearing mounted
each shaft experiences viscous drag, Dn, of 1 Nms/rad.

The system may be represented by the following transfer function :

𝜃" (𝑠) 1
=
𝑇" (𝑠) 𝐽# 𝑠 $ + 𝐷# 𝑠

Determine the values of the equivalent inertia, Je, and the equivalent damping, De, briefly
explaining the method with which these were determined.

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Question 3

Find the transfer function, 𝐺(𝑠) = 𝜃! (𝑠)/𝑇(𝑠), for the rotational system shown below.
(Hint: reflecting all impedances to 𝜃! (s))

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Question 4

Given the system and torque-speed curve of Figures (a) and (b), the transfer function
𝐺(𝑠) = 𝜃" (𝑠)/𝐸# (𝑠) is shown in Figure (c).

Find the impulse response of the system in the time domain, i.e. calculate 𝜃" (𝑡) when
𝐸# (𝑡) = 𝛿(𝑡).

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Answers
Question 1 (a)

The Laplace transform of the differential equation, assuming zero initial conditions, is,
(𝑠 % + 3𝑠 $ + 5𝑠 + 1)𝑌(𝑠) = (𝑠 % + 4𝑠 $ + 6𝑠 + 8)𝑋 (𝑠)

Therefore,

𝑌(𝑠) (𝑠 % + 4𝑠 $ + 6𝑠 + 8)
=
𝑋(𝑠) (𝑠 % + 3𝑠 $ + 5𝑠 + 1)

Question 1 (b)

Cross multiplying,

(𝑠 & + 3𝑠 ! +2𝑠 % + 4𝑠 $ + 5𝑠 + 2)𝐶 (𝑠) = (𝑠 ! + 2𝑠 % + 5𝑠 $ + 𝑠 + 1)𝑅(𝑠)

Taking the inverse Laplace transform assuming zero initial conditions,

Substituting 𝑟(𝑡) = 𝑡 ! , one has

= 24 + 48𝑡 + 60𝑡 $ + 4𝑡 % + 𝑡 !

Question 2

This needs to be put in terms of a single torque (T1), a single angular displacement
(theta1), a single inertia (Je), and a single damper (De).

This answer relies on the concept of REFLECTED IMPEDANCE

The inertias J2 and J3 reflect over N1/N2, so are multiplied by

(N1/N2)^2

The inertias J4 and J5 reflect over N3/N4 and N1/N2, so are multiplied by

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(N1.N3/N2.N4)^2

The inertias J6 and J7 reflect N5 / N6 and N3/N4 and N1/N2, so are multiplied by

(N1.N3.N5/N2.N4.N6)^2

Je = J1 + (J2+J3)x(N1/N2)^2 + (J4+J5)x(N1 N3 / N2 N4)^2 + (J6 +J7) x(N1 N3 N5 / N2 N4


N6)^2

Je = 1 + 3/4 + 3/16 + 24 / 64 = 2.3125 kg m^2

Damping is similarly treated:

De = D1 + D2(N1/N2)^2 + D3(N1 N3 / N2 N4)^2 + D4^(N1 N3 N5 / N2 N4 N6)^2

De = 1 + 1.(1/2)^2 + 1( ½ x ½)^2 + 1 ( ½ x ½ x ½)^2

De = 1 21/64 Nms / rad = 1.3281 Nms / rad

Question 3

Question 4

The Laplace transform of an impulse signal is 1, so

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0.0417 0.025 −0.025
𝜃' (𝑠) = = +
𝑠(𝑠 + 1.667) 𝑠 𝑠 + 1.667

Taking inverse Laplace transform:

𝜃' (𝑡) = 0.025 − 0.025𝑒 (".**+,

This means, when the input voltage is an impulse signal, the motor drives the load and
leads to a response with the steady-state value of the angular displacement being 0.025
rad.

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