88-324/92-321Mid-Term Test

Name: Student Number:

1.(30) The transfer function model of a system is given as follows:

Y (s) 5(s + 100)

G(s) = = 2
R(s) s + 60s + 500

a)(15). Assuming that the input signal is a unit step signal: r(t) = 1(t), find the expression of the
output signal y(t).
Solution: Note that for r(t) = 1(t), we have R(s) = 1/s and
5(s + 100) 5(s + 100) 1 9 1
Y (s) = R(s) = = +
s2 + 60s + 500 s(s + 50)(s + 10) s 8(s + 10) 8(s + 50)
So
9 1
y(t) = 1(t) e10t 1(t) + e50t 1(t).
8 8
b)(15). Find the final value of lim y(t) when r(t) = (t), i.e., a unit impulse signal.
t
Solution: Note that for r(t) = (t), we have R(s) = 1 and
5(s + 100) 45 25
Y (s) = =
s2 + 60s + 500 4(s + 10) 4(s + 50)
45 10t 25
y(t) = e 1(t) e50t 1(t), lim y(t) = 0
4 4 t

2.(40) A armature-controlled dc servomotor system is shown in the following figure

Figure 1: Schematic Diagram of EPS System

a)(20). Find transfer function model for this electro-mechanical system from ei to .
 Solution: Let ia (t) be the amature current and eb (t) = Kb m (t) be the counter emf of the
motor (Kb is a constant), then we have
dia (t)
ei (t) = Ra ia (t) + La + eb (t), eb (t) = Kb m (t), T (t) = Kt ia (t), T (t) D m (t) = J m (t)
dt
where T (t) is the motor torque (Kt is a constant), or
Ei (s) = Ra Ia (s) + sLa Ia (s) + sKb m (s), Kt Ia (s) sDm (s) = s2 Jm (s).
So
m (s) Kt
=
Ei (s) s [(Ra + sLa )(sJ + D) + Kb Kt ]
b)(20). Find the state-space model for this system choosing ei as the input signal and as the output
signal.

Note: Procedures have to be shown to derive these two models.

Solution: Selecting y(t) = m (t), u(t) = ei (t), x1 (t) = ia (t), x2 (t) = m (t) and x3 (t) = m (t), we
have
Ra Kb 1
x1 (t) = x1 (t) x3 (t) + u,
La La La
x2 (t) = x3 (t),

Kt D
x3 (t) = x1 (t) x3 (t)
J J
y(t) = x2 (t)

So

x(t) = Ax(t) + Bu(t), y(t) = Cx(t) + Du(t),

where

x1 (t) RLa
a
0 K b
La
1
La h i
x2 (t) , A = 0
x(t) = 0 1 , B = 0 , C = 0 1 0 , D = 0.

Kt
x3 (t) J 0 DJ 0

Note that if La is taken as 0, then there will be only two state variables as
Kb 1
x1 (t) = x3 + u
Ra Ra
and
Kt Kb 1 D Kt Kb D Kt
   
x2 (t) = x3 (t), x3 (t) = x3 + u x3 (t) = + x3 (t) + u(t)
J Ra Ra J JRa J JRa
So
" # " #
x2 (t) 0 1 0 h i
x(t) = , A= 
Kt Kb D
 , B= Kt
, C= 1 0 , D = 0.
x3 (t) 0 JRa + J JRa
 Figure 2: Schematic Diagram of EPS System

3.(30) For the transfer function block diagram shown in the following figure,
reduce the diagram into a one block form and find the closed-loop transfer function from R(s) to
C(s) and identify zeros and poles of the closed-loop transfer function obtained.

Solution: The reduction is shown in the following figures

Figure 3: Schematic Diagram of EPS System

Obviously, zero and pole in the closed-loop transfer function obtained are

z = 2/5, p = 3/8.