ME 375 System Dynamics: Exam #2 Name:

March 13 2017, 5:00-7:00pm: 2 sheets of notes ok

1) Block Diagram: (20pt) Sketch a block diagram for the following system with outputs x & y and inputs f & g.

f + g=3 ẍ+2 ẋ+7 x + y – 4 ẏ

2 f −g=5 ÿ+ ẏ+3 y – 4 x
7
2
- -
+
F 1/3 1/s 1/s X
+ +
- 4

2
4
+
+
G 1/5 1/s 1/s Y
- -
-
3

2) State Variable Forms: (20pt)

a) Convert the differential equations from (1) into state variable form. Indicate your A, B, C, D matrices.
f + g=3 ẍ+2 ẋ+7 x + y – 4 ẏ 2 f − g=5 ÿ+ ẏ+3 y – 4 x
With z 1=x , z 2= ẋ , z 3= y , z 4 = ẏ :

[ ][ ][ ] [ ] []
ż 1 0 1 0 0 z1 0 0 z1
ż 2 = −7/3 −2 /3 −1/3 4/3 z 2 + 1/3 1/3
ż 3 0 0 0 1 z3 0 0 [ gf ] [ ] [
x =1 0 0 0
y 0 0 1 0 ] [ ][ ]
z2 + 0 0 f
z3 0 0 g
ż 4 4/5 0 −3/5 −1/5 z 4 2/5 −1/5 z4

b) Show the state variable form of the dynamic DC motor model from the equation page (2 inputs and 2
outputs), indicating A, B, C, D matrices.
Motor dynamics: v a−Ra i a −L i˙a−K b =0 , I ̇=K T i a −c −T L
R K v K c 1
Solve for highest derivative: i˙a=− i a− b  a , ̇= T i a − − T L
L L L I I I

[ ] [ ]
R K 1
− − b 0
matrix form:
i̇ a = L
[]
ω̇ KT
−
[
c ω]
L ia
[
+ ]
L
[
0 −
1 [ ] va
Tl  ][ ] [ ][ ]
ia = 1 0 ia  0 0 va
0 1  0 0 TL
I I I
3) Circuit Analysis: (25pt) Find the differential equation relating output v o (t) and input v i (t ) for the
following circuit. Either regular method or impedance method is ok.

+ R1 i2
i1
L
Vi
C Vo
R2

Diff Eqn approach: Currents: i t=i 1 +i2 (1)

vi vo
Voltage loop: v i=R 1 i t + v o (2) ( i t= – )
R1 R1
1st branch: v o =L i˙1 + R2 i 1 (3)
2nd branch: i 2=C v̇ o (4)
vi vo
Substitute i 2 from (4) and i t from (2) into (1) to obtain i 1= – – C v˙o
R1 R 1
v̇ i v̇ o v v
Substitute into (3): v o =L( – – C v̈ o)+ R2 ( i – o – C v˙o ) (done)
R1 R 1 R 1 R1
Simplified & rearranged: R 1 C L v̈ o + R R
1 2 C v̇ o L v̇ o + R1 v o + R2 v o =L v̇ i+ R 2 v i
+
2
1 1 C L s + R2 C s +1 L s+ R2
Impedance approach: = +Cs= , Zo= 2
Z o L s+ R2 L s+ R 2 C L s + R2 C s +1
L s +R2
Z i=R1 +
C L s 2+ R 2 C s+1
L s + R2
V o (s) Z o C L s 2+ R 2 C s+1 L s+ R 2
= = = : same as Diff Eqn above
V i(s) Zi L s+ R 2 2
R1 C L s + R1 R 2 C s+ L s + R1 + R2
R1 +
C L s2 + R2 C s +1
4) DC Motor: (20pt) A standard DC motor has constants K T = K b=0.2 N . m/ A , c=0.002 N . m . s /rad
and Ra =8Ω . If the input voltage is 12 V, give the following:
KT V a 0.2∗12
a) no-load speed: At T L =0 , ω= = =42.9 rad/sec
cR a + K b K T 0.002∗8+0.2∗0.2
cV a 0.002∗12
b) no-load current: At T L =0 , ω= = =0.43 A
cR a + K b K T 0.002∗8+0.2∗0.2
c) stall torque: At ω=0 , K T V a=R a T L so T L = 0.2∗12 =0.3 Nm
8
d) stall current: At ω=0 , K T i a=T L so i a=0.3/0.2=1.5 A, or i a=V a / R=12 /8=1.5 A,
cV +K T
or ia = a b L = 0.002∗12+0.2∗0.3 =1.5 A
cR a + K b K T 0.002∗8+0.2∗0.2
5) Other system domains: (15pt) For each type of system, give the two types of state variables which can be
multiplied together to give power in Watts:
a) Mechanical translation: force, velocity
b) Mechanical rotation: torque, angular velocity
c) Hydraulic: pressure, mass flow (or volume flow)
d) Electrical: voltage, current