Solutions Set #1

MAAE 4500, Fall 2012 (sections A and B)

Mechanical and Aerospace Engineering, Carleton University
Question 1: After analyzing an unknown physical systems input-output behaviour, an engineer finds
out that a systems transfer function, G(s), must have a gain of 1, a zero at s= -5, a pole at s = -2, a pole
at s = -6, and a triple pole at s = -4.
(a) Write down the transfer function and use partial expansions to find the mathematical form of
the time response of this system to a unit impulse input (as a function of time t).
(b) Plot the obtained output response, which you found manually in part (a), using Matlabs
plotting utilities (from 0 sec to 10 seconds).
(c) Use Matlab utilities to find the same partial fractional form of part (a).
(d) Use Matlab utilities to simulate the response of the G(s) to a unit impulse input and compare it
to the curve you obtained in part (b).
Part (a)
See next page for the derivations.
Part (b)

% save in file A1.m and run from Matlab

% MAAE4500, Assignment A1
%Question 1
%-----------t=0:.01:10;
y=3/32*exp(-2*t)-1/32*exp(-6*t)-1/16*exp(-4*t)-1/4*t.*exp(-4*t)-1/8*t.^2.*exp(4*t);
figure(3)
subplot(2,1,1)
% plotting the impulse response from manual function calculation
plot(t,y),grid

-3

Impulse Response

x 10

4.5
4

A m p litu d e

3.5
3
2.5
2
1.5
1
0.5
0

5
Time (sec)

10

Parts (c) and (d)

mysys=tf(zpk([-5],[-2,-6,-4,-4,-4],1))
format rat
[z,p,k]=residue(mysys.num{1},mysys.den{1})
% z =
%
-1/32
%
-1/16
%
-1/4
%
-1/4
%
3/32
% p =
%
-6
%
-4
%
-4
%
-4
%
-2
% k =
%
[]
%find the impulse response through simulation
subplot(2,1,2)
impulse(mysys,10),grid

-3

Impulse Response

x 10

4.5
4

A m p lit u d e

3.5
3
2.5
2
1.5
1
0.5
0

5
Time (sec)

10

Question 2: The mechanical part of a read/write head in a hard disk drive is shown below. A DC motor
turns the Read head through a thin flexible shaft, which can be modelled as a torsional spring (stiffness
k and damping b). The motor inertia, I1, sees the motor commanded torque MC, and Disturbance torque
MD. The upper part of the actuator has an inertia I2.
(a) Assuming that disturbance load MD is zero, write down the equations of motion for both
inertias
(b) Find the transfer function of the output angle of the Read head, 2(s), to the input torque
MC(s). Gp(s) = 2(s) /MC(s).
(c) Assume that this plant is used in the unity feedback configuration with a proportional
controller having gain kp = 1 as shown in Figure 2. Consider all the parameters (inertia,
damping, stiffness, etc.) have a value of 1 and find the closed-loop transfer function from
the reference input R(s) to output Y(s)? Use Matlab to find the unit step response.
(d) What is the steady-state output yss(t) and steady state error ess(t), if a step input is used.

R(s)

U(s)

E(s)

+
-

Kp

Gp(s)

Figure 2.

Y(s)

Part (c)
%Question 2
num=[1 1];
den=[1 2 2 1 1];
sys2=tf(num,den)
step(num,den)
% Note: if you run the command pole(sys2), you obtain:
%
-1.0707 + 0.7587i
%
-1.0707 - 0.7587i
%
0.0707 + 0.7587i
%
0.0707 - 0.7587i
%which shows the system in unstable due to the two poles on the RHP.
Step Response

30

20

A m p litu d e

10

-10

-20

-30

-40

10

15

20

25
Time (sec)

30

35

40

45

50

Question 3: A light-seeking control system, used to track the sun, is shown in Figure 1. The output
shaft, driven by the motor through a worm reduction gear, has a bracket attached on which are
mounted two photocells. Complete the closed-loop control system, via drawing a block diagram, such
that the system follows the light source (Explain the role of different elements in the control loop). A
photocell is mounted in each tube. The light reaching each cell is the same in both only when the light
source is exactly in the middle as shown. Therefore, if the sun is not in the middle, one receives more
light than the other.

Figure 1

Option (a)

Option (b)

Question 4: Find the overall transfer function from input R2(t) to the output Y1(t) in the following
block diagram. Show the steps of block simplifications.

Assuming signal w is the signal right before G6 (s) and R1=0:

Question 5: In a hard disk, a DC motor is used to position the read head over the reference track. The
read head is assumed to be rigid; hence, neglecting the flexures deflection. Assume that the read head
is directly connected to the output shaft of a motor with the total inertia of Jm= 1 N m s2/rad and
viscous friction coefficient of b=2 N m s/rad. The motor torque is proportional to the current via
torque constant Km = 5 Nm/A. The Back EMF voltage is proportional to the shaft angular speed via a
constant Ke assumed to be zero in this problem. The armature resistance is R=1 Ohm and Inductance is
L=1mH.

(a) Write down all the governing equations.

(b) Express the system in a state space form. Use voltage va as the input and the angular position
m as the output.
(c) Find the transfer function between the input voltage va and angular position m.
(d) If this motor is used in a feedback loop (unity feedback) with a proportional controller of gain
Ka in series with the motor, what will be the feedback systems transfer function (from the
reference angle to the output angle), and find the steady-state response (using final value
theorem) to a unit step input.
(e) Use Matlab to simulate the response of the feedback system to a unit step for the Ka gains of
0.1, 4, and 1000 (for 10 seconds of simulation). Comment on the responses you obtain.

(f)

%Question 5
%----------figure(2)
Ka= [.1 4 1000];
t=0:.01:10;
for i=1:3
num =5000*Ka(i);
den=[1 1002 2000 5000*Ka(i)];
subplot(3,1,i),step(num,den,t),grid
end