MEEN 364

Exam 2

Texas A&M University

Department of Mechanical Engineering
MEEN 364 Dynamic Systems and Controls
EXAM 2 November 20, 2002
7:15 9:15 PM; Room 204 Harrington
Name:
Please circle your section below: Section (Lab Time):
501(M 1:50-4:40 PM) 502(T 8:00-10:50 AM)
504(W 1:50-4:40 PM) 505(R 11:10 AM 2:00 PM)

503(T 2:20-5:10 PM)

506(R 2:20-5:10 PM)

NOTE: Any algebra or calculus that is part of the answers of this test must be
performed by hand, and in detail. No points will be given for correct answers simply
written down, without detailed justification. You are allowed to use your calculators
to perform only arithmetic, e.g. computing values of exp or log, etc.
1) A very typical problem of electromechanical position control is an electric motor driving a load
that has one dominant vibration mode.

The motor has an electrical constant K e , a torque constant K t , an armature inductance La , and a
resistance Ra . The rotor has inertia J1 and a viscous friction B . The load has inertia J 2 . The two
inertias are connected by a shaft with a spring constant k and an equivalent viscous damping b.
a) [15 points] Derive the governing differential equations of motion.
b) [10 points] Write the equations as a set of simultaneous first-order equations in state variable
form. The output of the system is defined as the angular displacement of the load, 2.
1

MEEN 364

Exam 2

2) The governing differential equations for a coupled tank system are given by

dh1 (t )
= 0,
dt
dh (t )
h2 (t ) A 2 = 0.
dt

q(t ) c1 h1 (t ) h2 (t ) A
c1 h1 (t ) h2 (t ) c 2

Description of the variables is as follows:

q(t) Input flow rate,
h1(t) Height of tank 1,
h2(t) Height of tank 2,
A Area of tanks 1 and 2 (both tanks have equal areas),
c1, c2 Constants.
i) [2 points] Explain the procedure for determining the equilibrium value of this system and writedown the resulting equilibrium equations.
NOTE: DO NOT ATTEMPT TO COMPUTE THE EQUILIBRIUM VALUES.
ii) [13 points] Assume the equilibrium value of h1(t) and h2(t) to be h10 and h20,
respectively, corresponding to an equilibrium flow rate q0 of the input flow rate q(t). Linearize
the model of the above non-linear differential equations about this equilibrium point.
3) [25 points] Consider the following negative unity feedback block diagram:

Determine the values of the constants, Kp, Kd and KI by assuming second order dominance,
and considering the time domain transient specifications of second order systems. Additionally,
ignore the effects of transfer function zeros on system transient response.
Let the third pole of the closed-loop system be placed at a distance of 10 times the distance of the
dominant poles from the origin. The desired step response of the closed-loop system is as shown in
the figure below.

MEEN 364

Exam 2

Useful Formulae:
TP =

,
d

MP = e

1 2

4a) [20 points] Sketch the asymptotic Bode plot for the following transfer function:

6( s + 4) 2 ( s 2 + s + 4)
.
s 3 ( s + 6)( s 2 + 4s + 64)
(Note: Plot the bode magnitude plot for each of the individual terms in the transfer function,
labeling the break point frequency and the slope of the asymptote. Combine the individual plots to
obtain the final Bode magnitude plot, indicating the break-point frequency and the slope between
the break point frequencies. For the Bode phase plot, prepare a table of asymptotic behaviors when
0 and for each term's phase angle and then combine them to get the final phase
G ( s) =

values for G(s) as 0 and . You do not have to draw the combined Bode phase plot
for G(s).
4b) [15 points] The state-space equations for a system are given by
. 1
4 x1 1
x. 1 =
+ u,
x 2 2 6 x2 0

x
y = [1 1] 1 .
x2

Determine whether the system is stable or unstable. Justify your answer in detail.