Examination for the Bachelor of Engineering Semester 2, 2010

101888

Dynamics and Control 2 MECH ENG 3028

10 mins 180 mins 190 mins Time 90 mins Marks 50 marks 50 Total 50 marks 50 Total

Official Reading Time: Writing Time: Total Duration: Part / Section Part 1

Questions Answer all 23 questions

Part 2 Instructions

Answer all 3 questions

90 mins

This is an Open Book examination. Answer Parts 1 and 2 in separate books. For Part 1 please write your solutions in the book, then mark the correct answer in the Multiple Choice Exam Answer Sheet provided. For Part 2 begin each section (A, B, C) on a new page. Examination materials must not be removed from the examination room.

Materials Two pink books. Notes and text books are permitted. Calculator without remote communications capability is permitted. English language dictionary is permitted. Multiple Choice Exam Answer Sheet

DO NOT COMMENCE WRITING UNTIL INSTRUCTED TO DO SO

Course ID: MECH ENG 3028

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PART 1

AUTOMATIC CONTROL 2 (Total 50 Marks)

Consider the control moment gyroscope from the tutorials and shown in Figure 1. The fully coupled 4 degree-of-freedom dynamics are extremely complicated. We are going to consider the simplified system when axis 3 (in Figure 1) is locked and axes 1, 2 and 4 are free to rotate. Axis 1 will be driven at a constant speed by a DC motor which drives rotor D. It will be assumed that we can control the angular speed of axis 2, which in practice may be achieved with a high authority (gain) control loop. Axis 4 is completely free.

Axis 3 - Locked

Axis 1 Constant Speed

Axis 2 - Driven

Axis 4 - Free

Figure 1: Photograph of the Control Moment Gyroscope

When the plane in which the rotor spins is rotated (by rotating axis 2) it generates a gyroscopic torque through axis 4. Thus in this configuration the angular velocity of axis 2, 2 (rad/s) , may be seen as the control input, and the angle of axis 4, q 4 , may be seen as the control output.

Course ID: MECH ENG 3028

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C D Jyy,D 1 z y B x u=2

Jzz,A+Jzz,B+Jzz,C++Jxx,D A q4, 4

Figure 2: Schematic of the reaction wheel system in the gyroscopic torquer mode

Before deriving the dynamics of the system a number of assumptions must be made. These are: The motor shafts are assumed to be rigidly coupled to the bodies and infinitely stiff. The mass centres of all the bodies comprising the system are at the centre of rotor D, which is also the centre of all the gimbals. There is no backlash in the motor/gearbox assembly. There is no friction in any of the axes. This is far from the truth as the axes are quite lossy and the motors experience viscous losses. With reference to Figure 2 we will make a few definitions to aid us in the derivation of the dynamics. Fixed Mechanical Parameters J zz,A = 0.067kg.m2 is the moment of inertia for body A through its z-axis,

J zz,B = 0.030kg.m2 is the moment of inertia for body B through its z-axis,

J zz,C = 0.022kg.m2 is the moment of inertia for body C through its z-axis, J xx,D = 0.015kg.m2 is the moment of inertia for body D through its x-axis, J yy ,D = 0.027kg.m2 is the moment of inertia for body D through its y-axis.

Course ID: MECH ENG 3028

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Independent Variables 1 = q1 (rad/s) is the (constant) angular velocity of the rotor D relative to body C, 2 = q 2 (rad/s) is the angular velocity of body C (and D) relative to body B, and also represents the speed command sent to the servo-motor driving axis 2. q 4 (rad) is the angle of body A relative to the earth centred frame, 4 = q 4 (rad/s) is the angular velocity of body A relative to the earth centred frame.

System differential equations

The equations of motion of the system may be derived by considering the schematic of the system in Figure 2. It can be shown that the torque balance for body A relative the earth is given by (1) (J xx,D + Jzz,A + Jzz,B + Jzz,C ) q4 (t ) = ( J yy ,D 1 )2 (t ) where q 4 (t ) represents the angular acceleration of body A arising from the of inertia (J xx,D + J zz,A + J zz,B + J zz,C ) .

gyroscopic torque input ( J yy ,D 1 )2 (t ) , and is dynamically equivalent to a rigid body

The rotor speed is assumed constant and equal to 1 = 400RPM . Hint, when using this parameter, do not forget to convert to rad/s.

Course ID: MECH ENG 3028

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Now answer the following: 1. Using Equation (1), derive the transfer function between the angular velocity (in rad/s) command, 2 , and the angular position (in rad) of body A, q 4 . The transfer function is given by [4 marks] J yy ,D 2 q 4 (s ) 80.6 a. = 2 = 1 (s ) s (J xx,D + J zz,A + J zz,B + J zz,C ) s2 b. c. d.

J yy ,D 1 q 4 (s ) 8.44 = 2 = 2 2 (s ) s (J xx,D + J zz,A + J zz,B + J zz,C ) J yy ,D 1 s 1.13

J yy ,D 1 q 4 (s ) 8.44 = 2 = 2 (s ) s (J xx ,D + J zz,A + J zz,B + J zz,C ) s2

J yy ,D 1 q 4 (s ) = = 80.6 2 (s ) (J xx ,D + J zz,A + J zz,B + J zz,C ) e. None of the above.

2. From this, determine the locations of the open loop poles. The open loop poles are given by [2 marks] a. s = 80.6, 80.6 rad/s b. s = 0, 0 rad/s c. s = 8.98i , + 8.98i rad/s d. s = 1.06, + 1.06 rad/s e. None of the above.

3. Discuss what the poles represent and why they are at the locations found in Question 2. [2 marks] a. The plant is inherently stable, hence both poles are real and on the LHS of the s-plane. b. The two poles are both integrators, and arise since there is no velocity or displacement term in the differential equation. c. The system has no damping and hence is marginally stable with two imaginary (conjugate poles). d. The system is clearly unstable, with one real stable pole and one real unstable pole. e. None of the above.

4. With reference to the number of integrators in the transfer function, is the plant [1 mark] a. Type 0? b. Type 1? c. Type 2? d. Type 3? e. None of the above.

Course ID: MECH ENG 3028

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5. Is the open loop plant a. Stable? b. Marginally stable? c. Unstable? d. Globally, asymptotically stable? e. None of the above.

[1 mark]

6. Calculate the open-loop zero(s) between the input 2 , and the output q 4 . The zeros are: [2 marks] a. There are no zeros. b. s = 0 rad/s c. s = 0, 0 rad/s d. s = 1.32 + i 9.81 rad/s e. None of the above.

7. Using Equation (1), it can be shown that the state equation, for the two states angle q 4 and the angular velocity 4 , and input 2 , is given by [3 marks] 0 q 4 0 1 q 4 J yy ,D 1 = 0 1 q 4 + 0 + a. = 2 0 0 80.6 2 4 4 0 0 4 (J xx ,D + J zz,A + J zz,B + J zz,C )

( 2)

0 q 4 0 0 q 4 J yy ,D 1 = 0 0 q 4 + 0 + b. = 2 1 0 8.44 2 4 4 1 0 4 (J xx ,D + J zz,A + J zz,B + J zz,C )

( 2)

0 q 4 0 1 q 4 J yy ,D 1 = 0 1 q 4 + 0 + c. = 4 0 0 8.44 4 2 2 0 0 2 (J xx ,D + J zz,A + J zz,B + J zz,C )

0 q 4 0 1 q 4 J yy ,D 1 = 0 1 q 4 + 0 + d. = 2 0 0 8.44 2 4 4 0 0 4 (J xx ,D + J zz,A + J zz,B + J zz,C )
e. None of the above.

( 2)

( 2)

8. What is the minimum number of states required to model the system given in Equation (2) (given in Question 7) assuming our plant output is the angular [1 mark] velocity 4 ? a. None b. One c. Two d. Three e. None of the above.

Course ID: MECH ENG 3028

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9. Using Equation (1), the state output equation, given that the system output is the angular position, q 4 , of body A is given by, [2 marks] a. y (t ) = Cx + Du = [1 0]x + 0u (3 ) b. y (t ) = Cx + Du = [0 1]x + 0u (3 ) c. y (t ) = Cx + Du = [ 8.44 0]x + 0u (3 ) d. y (t ) = Cx + Du = [1 0]x 8.44u (3 ) e. None of the above.

Hint: At this stage the transfer function selected in Question 1 should be the same 1 as G(s ) = C[sI A ] B + D .

10. Is the system represented by Equations (2) and (3) a minimal realisation of the system given that the system output is the angular position q 4 ? [1 mark] a. No b. Yes c. Only sometimes d. Dont know e. None of the above.

11. Suppose we wanted the output in degrees, rather than radians. The state output matrix for an angular position, q 4 (degrees) , of body A in degrees. Is given by, [2 marks] a. C = [2 / 360 0] b. C = [0 180 / ]
c. C = [180 / d. C = [0 1] 0]

e. None of the above.

Course ID: MECH ENG 3028

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12. Which of the block diagrams below represent the open-loop plant given by Equations (2) and (3)? [3 marks]

u=2
a.

4
4

1/s

q4

q4 1/s
q4

-8.44

b.

u=2

1/s

1 4

q4

1/s q4

-8.44 q4 1/s

c.

u=2

-8.44

1/s

u=2
d.

-8.44

1/s 1

q4

q4 1/s

-8.44

e. None of the above.

13. What Matlab code below would you use to build a state space model called, gimbal (assuming that the A, B, C and D matrices had been defined)? [1 mark] a. gimbal = tf(A,B) b. gimbal = zpk(A,B,C) c. gimbal = ss(A,B,C,D) d. gimbal = statespace(A,B,C,D) e. None of the above.

14. Assuming that you had built the state space model in Matlab, what code below would you use to determine the poles of the system? [1 mark] a. b. c. d. e. eig(A) damp(A) damp(gimbal) pole(gimbal) All of the above.

Course ID: MECH ENG 3028

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15. The states used to define the state equations are not unique. Therefore, it is T possible to rewrite Equation (2) by reordering the states, ie [4 q 4 ] . By deriving the (inverse) transformation matrix to achieve this: T T 1 , for the [4 ] = T [4 4 ] , calculate the transformed state matrix, A q4 q alternative states [4 0 1 a. A = 0 0 1 0 b. A = 0 0 0 0 c. A = 1 0 0 0 d. A = 0 1 e. None of the above.
x' x

q4 ] .
T

[3 marks]

16. Using the original state equations given by Equation (2), calculate the controllability matrix and determine how many (if any) of the plant states are controllable. Hint: Relate this to the block diagram in Question 11 above. [3 marks] a. No states are controllable. b. One state is controllable. c. Two states are controllable. d. One state is controllable and one is stabilisable. e. None of the above.

17. You are going to design a full state feedback controller for the plant. You have an initial choice of 4 sets of control gains which are listed below along with the resulting pole locations. Choose the set of gains that gives a 2% settling time of less than 500ms and has less than 1% overshoot. [2 marks] a. K = [k 1 k 2 ] = [ 30.3 3.79] resulting in s = 16, 16 rad/s . b. K = [k 1 k 2 ] = [ 60.7 3.79] resulting in s = 16 16i , 16 + 16i rad/s . c. K = [k 1 k 2 ] = [ 30.3 0] resulting in s = 16i , + 16i rad/s . d. K = [k 1 k 2 ] = [ 1.90 0.948] resulting in s = 4, 4 rad/s e. None of the above.

Course ID: MECH ENG 3028

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18. The feedback controller developed above will be stable but will not guarantee tracking. This can only be done with an integral (tracking) controller by adding another state, q I = (q 4 q 4,des )dt , which is the integral of the error between the desired angle, q 4,des , and actual angle. Assume that the desired closed loop poles are s = 8, 10, 12 rad/s , then the control gains needed for this are an integral control gain, K I = 113.7 , and a feedback control gain K 0 = [k 1 k 2 ] = [ 35.07 3.555] . The resulting closed loop state equations are: [4 marks] 1 0 q 4 0 q 4 0 = 296 30 960 + 0 q a. 4 4,des 4 qI 1 0 0 q I 8.44

1 0 q 4 0 q 4 0 = 296 30 960 + 0 q b. 4 4 4,des qI 1 0 0 q I 1 0 q 4 0 q 4 0 1 = 0 0 8.44 + 8.44q c. 4 4,des 4 qI 1 0 0 qI 0 0 q 4 0 q 4 0 1 = 0 0 8.44 + 0 q d. 4 4 4,des qI 1 0 0 q I 1 e. None of the above.

19. Determine the characteristic equation for the closed loop state matrix in the question above. [3 marks] 3 2 a. s + s + s + 844 = 0 b. s 3 + 30s 2 + 296s + 960 = 0 c. 30 s 3 + s 2 + s + 844 = 0 d. s 3 + 296s 2 + s + 960 = 0 e. None of the above.

20. Using the output equation from Question 9, calculate the observability matrix of the system. Using this, we can see that [3 marks] a. Any estimates of the states will be extremely accurate. b. Any estimates of the states will be moderately accurate. c. Any estimates of the states will be extremely inaccurate. d. The states cannot be estimated at all. e. None of the above.

Course ID: MECH ENG 3028

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21. If you were to repeat the exercise in Question 20 using Matlab, the code would be: [1 mark] a. zeros(obsv(A,C)) b. eig(obsv(A,C)) c. rank(cond(A,B)) d. cond(obsv(A,C)) e. All of the above.

22. You are required to build an observer. Given that we have a sensor that measures the angular position, q 4 , we need only estimate the true velocity, 4 , using a reduced order observer. Using an observer gain, L = 10 , the state equations to provide, 4 , a velocity estimate is given by [3 marks]

q x c = 10 x c + [ 100 8.44] 4 u a. q 4 = 10 x c + [10 0] 4 u

q x c = x c + [0 8.44] 4 u b. q 4 = x c + [0 0] 4 u

q x c = 10 x c + [0 8.44] 4 u c. q 4 = 10 x c + [1 0] 4 u q x c = 10 x c + [ 100 8.44] 4 u d. q 4 = x c + [10 0] 4 u

e. None of the above.

23. By determining the poles of the reduced order observer, the 2% settling time of the observer is found to be [2 marks] a. 10 seconds b. 2.5 seconds c. 0.4 seconds d. 0.1 seconds e. None of the above. Course ID: MECH ENG 3028 Page 11 of 15

PART 2 VIBRATIONS Please take note: Miscellaneous Data can be found after problem 3 of this section. It contains data that may be useful in doing the problems. Answer Part 2 of the exam in a separate booklet to Part 1. Q1. As shown in Figure 1a, a 2.5-kg slender bar of length 40 cm is pinned at one end. A 3-kg slider of negligible size can be fixed to the bar at any desired location.

You may assume that the mass moment of inertia of a slender bar about its 1 centre of mass is given by = 12 2 , and that only small angles of oscillation are considered. The mechanism being analysed is employed as a metronome in musical practice, and is used to set tempo. a) Use the energy method to determine how far from the pinned end the slider should be situated for the system to have a period of oscillation of 1 s. [17 Marks] Explain briefly why gravitational potential energy (which must be considered in the compound pendulum shown in Figure 1a) can be neglected in the suspended mass-spring system shown in Figure 1b. [3 Marks]

b)

Course ID: MECH ENG 3028

Hint: Recall the Taylors Series approximation: cos 1 0.5 2

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Q2.

A simple clamped-free cantilever beam (as shown in Figure 2a) has the following dimensions and material properties: = 0.5 m = 0.02 m = 0.002 m = 2700 kg.m-3 = 68.9 GPa

a)

Determine the lowest 2 natural bending mode frequencies of the cantilever. [6 Marks] The beam is excited into vibration by actuators, at a variable driving frequency. Accelerometers are attached to the beam at distances of 0.2 m (Position A) and 0.5 m (Position B) from the clamped end. At the lowest resonant frequency of the system, the displacement amplitudes at A and B are found to be in phase, and with an amplitude ratio of = 2.5

b)

Referring to Figure 2b, and the amplitude ratio, what can you say about the excitation of the beam? [3 Marks]

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Figure 2b Un-Loaded Cantilever Mode Shapes

2.5 2 1.5 1 Amplitude 0.5 0 -0.5 0 -1 -1.5 -2 -2.5 Beam Position (m) 0.1 0.2 0.3 0.4 0.5 0.6 Mode 1 Mode 2

c)

If the beam is end-loaded with a mass of 0.5 kg and negligible size, use a single degree of freedom model of this modified system to determine its lowest natural frequency. [7 Marks]

Hint: Calculate the effective stiffness and mass of the beam and lumpedmass system

Course ID: MECH ENG 3028

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Q3.

A light steel rod of circular cross-section is clamped at both ends, as shown in Figure 3.

The bar has dimensions and material properties:

If the rod is loaded with 2 equal 10-kg masses of negligible size, at distances of 0.2 m and 0.4 m from the left hand end (As shown in Figure 3), find an approximate value for the fundamental frequency of the system using Dunkerlys Method. [14 Marks] You may neglect the rods mass.

= 0.6 m = 0.01 m = 7850 kg.m-3 = 210 GPa

DO NOT FORGET TO INSERT YOUR MULTIPLE CHOICE EXAM ANSWER SHEET INTO THE EXAM BOOKLET FOR THE AUTOMATIC CONTROL PART.

END OF EXAMINATION PAPER

Course ID: MECH ENG 3028

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