Exam 2
Spring 2014
Name :
MEEN 364
Exam 2
Spring 2014
MEEN 364
Exam 2
Spring 2014
MEEN 364
Exam 2
Spring 2014
B) Use the Laplace Transform to find the solution () to the following differential equation:
() () + () =
MEEN 364
Exam 2
Spring 2014
A) Determine the transfer function between the input disturbance () and the output ().
B) Determine the transfer function between the reference () and the output ().
C) For the transfer function from part B, if = 3, determine the location of the poles and
zeroes.
D) Using the transfer function from part B, if = 3, determine the final value, if any, of the
system output for a unit step reference input?
MEEN 364
Exam 2
Spring 2014
Problem 2 (continued)
MEEN 364
Exam 2
Spring 2014
Problem 2 (continued)
MEEN 364
Exam 2
Spring 2014
Problem 2 (continued)
MEEN 364
Exam 2
Spring 2014
A slider of mass m, is shown connected to the walls by two springs of stiffness k, on either side.
The sliders initial position is the static equilibrium position. Viscous friction between the slider
and the ground is modeled by the coefficient b. Attached to the center of the block at a pivot
point is a slender, uniform bar of mass m, and length l. There is viscous damping at the pivot
point as well modeled by the coefficient, c. Assume the moment of inertia for the bar about its
mass center to be I G .
The equations of motion are given by the following equations:
Slider:
Bar:
1
2 + cos 2 sin + + 2 = 0
2
1
1
1
+ 2 + cos + + sin = 0
4
2
2
B) Select one of the equilibrium position(s) of the system, and linearize the system about this
point.
MEEN 364
Exam 2
Spring 2014
Problem 3 (continued)
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MEEN 364
Exam 2
Spring 2014
Problem 3 (continued)
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MEEN 364
Exam 2
Spring 2014
Problem 3 (continued)
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MEEN 364
Exam 2
Spring 2014
It is desired to place the dominant poles of the closed loop system at the locations shown below:
sin(30 ) =
cos(30 ) =
1
2
3
2
Assume second order dominance, with the third pole of the closed-loop system placed at a
distance 10 times the distance of the dominant poles from the imaginary axis.
A) Determine the values of the constants, K p , K d and K I to place the poles as desired.
B) Neglecting the effect of the closed loop zeroes, determine the percent overshoot and the
approximate settling time assuming a unit step input.
C) Determine the final value of (), if one exists, assuming a unit step input.
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MEEN 364
Exam 2
Spring 2014
Problem 4 (continued)
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MEEN 364
Exam 2
Spring 2014
Problem 4 (continued)
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MEEN 364
Exam 2
Spring 2014
Problem 4 (continued)
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MEEN 364
Exam 2
Spring 2014
() =
A) Required: Sketch the combined magnitude plot for the transfer function (). Clearly label
the break point frequencies and the slope of the asymptotes.
Optional: Sketch the individual magnitude plots in the plot spaces provided for each term of
the transfer function (). Note: These individual plots are only to assist in awarding partial
credit, if necessary.
B) In the table provided, list the phase contribution of each term of () as 0 and ,
and then provide the total phase at these frequencies. A phase plot of () is NOT
required.
C) Is this system stable? Is this system minimum-phase? Briefly justify your answers.
x
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1.0
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9
2.0
log 10 (x)
-1.000
-0.699
-0.523
-0.398
-0.301
-0.222
-0.155
-0.097
-0.046
0.000
0.041
0.079
0.114
0.146
0.176
0.204
0.230
0.255
0.279
0.301
x
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9
3.0
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
4.0
log 10 (x)
0.322
0.342
0.362
0.380
0.398
0.415
0.431
0.447
0.462
0.477
0.491
0.505
0.519
0.531
0.544
0.556
0.568
0.580
0.591
0.602
x
4.1
4.2
4.3
4.4
4.5
4.6
4.7
4.8
4.9
5.0
5.1
5.2
5.3
5.4
5.5
5.6
5.7
5.8
5.9
6.0
log 10 (x)
0.613
0.623
0.633
0.643
0.653
0.663
0.672
0.681
0.690
0.699
0.708
0.716
0.724
0.732
0.740
0.748
0.756
0.763
0.771
0.778
x
6.1
6.2
6.3
6.4
6.5
6.6
6.7
6.8
6.9
7.0
7.1
7.2
7.3
7.4
7.5
7.6
7.7
7.8
7.9
8.0
log 10 (x)
0.785
0.792
0.799
0.806
0.813
0.820
0.826
0.833
0.839
0.845
0.851
0.857
0.863
0.869
0.875
0.881
0.886
0.892
0.898
0.903
x
8.1
8.2
8.3
8.4
8.5
8.6
8.7
8.8
8.9
9.0
9.1
9.2
9.3
9.4
9.5
9.6
9.7
9.8
9.9
10.0
log 10 (x)
0.908
0.914
0.919
0.924
0.929
0.934
0.940
0.944
0.949
0.954
0.959
0.964
0.968
0.973
0.978
0.982
0.987
0.991
0.996
1.000
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MEEN 364
Exam 2
Spring 2014
Problem 5 (continued)
A) Required: Plot of |()|
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MEEN 364
Exam 2
Spring 2014
Problem 5 (continued)
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MEEN 364
Exam 2
Spring 2014
Problem 5 (continued)
B) Required: Table of ()
Term
Phase for
Phase for
Total
C) Is this system stable? Is this system minimum-phase? Briefly justify your answers.
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MEEN 364
Exam 2
Spring 2014
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MEEN 364
Exam 2
Spring 2014
Problem 1
(20 points)
__________
Problem 2
(20 points)
__________
Problem 3
(20 points)
__________
Problem 4
(20 points)
__________
Problem 5
(20 points)
__________
Total
(100 points)
__________
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