MEX3273Assignment03(2011/2012) Page1of3

THEOPENUNIVERSITYOFSRILANKA
DEPARTMENTOFMECHANICALENGINEERING
DIPLOMAINTECHNOLOGY(MECHATRONICS)LEVEL03
ACADEMICYEAR2011/2012

MEX3273MODELLINGOFMECHATRONICSSYSTEM
ASSIGNMENTNO:03

INSTRUCTIONS
1. ThisassignmentisbasedonBook02
2. Answerallquestions
3. Sendtheanswerscriptsunderregisteredcovertotheaddressgivenbeloworputitinto
theassignmentboxavailableatBlock17atthecentralcampusatNawala,Nugegoda

THECOURSECOORDINATORINMEX3273
DEPARTMENTOFMECHANICALENGINEERING
THEOPENUNIVERSITYOFSRILANKA
P.O.BOX21,NAWALA,NUGEGODA

4. Thedeadlineforsubmission:09/12/2011
Nolatesubmissionwillbeentertained

(Q1)
Simplifytheblockdiagramshowninfigure1torepresentasoneblockandfindthetransfer
function
C
(s)
R
(s)
.

Figure1
PLEASEREADTHEFOLLOWINGINSTRUCTIONSBEFOREANSWERINGTHEQUESTIONS

0
1

0
2
0
3

0
4
0
5
E
2 0
6

E
4
E
3
R
(s)

C
(s)
_
_
_
_
+
+
+
+
MEX3273Assignment03(2011/2012) Page2of3

(Q2)
(a) DeterminethetransferfunctionbytheMasonsgainformulaofthesignalflowgraph
showninfigure2.

Figure2
(b) Use Masons rule to determine the transfer function between R
(s)
and C
(s)
shown in
figure1ofQ1.

(Q3)
(I) Definethefollowingtermsinrespecttostatespaceformula.

(a) State
(b) Statevector
(c) Statevariable
(d) Statespace

(II) Represent the translational mechanical system given in figure3, in state space form.
Youmaytake
(t)
andx
3
tobetheinputandoutputrespectively.

R
(s)

C
(s)

1 0
1
0
2
0
3
0
4
0
5
0
6

0
7
0
8

E
3
E
1
E
2
MEX3273Assignment03(2011/2012) Page3of3

Figure3
Infigure3,
m
1
= m
2
= m
3
= 1kg
c
2
= 1Nsm
k
1
= k
2
= k
3
= 1Nm
Thefrictionbetweenm
3
andm
1
,m
3
andm
2
arec
1
andc
3
respectively.
c
1
= c
3
= 1Nsm

(Q4)
Asystemisdescribedbyfollowingtransferfunction.Findthestatespaceequations.

(s)
u
(s)
=
s
2
+7s +2
s
3
+9s
2
+26s +24

m
1

m
3
m
2
c
1
k
3
k
1

k
2

(t)
x
1
x
2

x
3