ME132_mt1_f07 - UNIVERSITY OF CALIFORNIA AT BERKELEY Department of Mechanical Engineering ME132 Dynamic Systems and Feedback Quiz I Fall 2007

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Unformatted text preview: UNIVERSITY OF CALIFORNIA AT BERKELEY Department of Mechanical Engineering ME132 Dynamic Systems and Feedback Quiz I Fall 2007 Closed Book and Closed Notes. One 8 . 5 × 11 sheet (front and back) of handwritten notes allowed. No calculators or computers. Your Name: Please answer all questions. Problem: 1 2 3 4 Total Max. Grade: 30 20 30 20 100 Grade: 1 Problem (30 points) A process is governed by ¨ y ( t ) = 1 m [ u ( t ) + d ( t )] Here, u ( t ) is the control input, d ( t ) is the disturbance input, and y ( t ) is the output. m is a positive constant. Assume there are two sensors: one sensor to measure y ( t ), and one sensor to measure ˙ y ( t ). The goal of control is to make the process output y ( t ) follow a reference input r ( t ), even in the presence of nonzero disturbances d ( t ), and modest unknown variations in m . In order to achieve this, a control law of the form ˙ z ( t ) = r ( t )- y ( t ) u ( t ) = K I z ( t ) + K P [ r ( t )- y ( t )]- K D ˙ y ( t ) is proposed. Note that the control law uses both sensor measurements, and is PI-control with inner-loop rate feedback. a) Draw a block diagram of the closed-loop system, showing the two feedback loops, the process, the disturbance, and the reference. Label the signals and blocks (use theprocess, the disturbance, and the reference....
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This note was uploaded on 08/01/2008 for the course ME 132 taught by Professor Tomizuka during the Spring '08 term at University of California, Berkeley.

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ME132_mt1_f07 - UNIVERSITY OF CALIFORNIA AT BERKELEY Department of Mechanical Engineering ME132 Dynamic Systems and Feedback Quiz I Fall 2007

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