Final Exam_S06 - University of California Mechanical...

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in One spring with constant 4 k Proof mass, m p Case mass m c b ) ( t F University of California Mechanical Engineering Department ME 132 Dynamic Systems and Feedback Spring 2006 Final Examination: May 12, 2006 (Friday), 12:30-3:30 p.m. Open reader, open notes. All problems are equally weighed: i.e. 20 pts for each of 5 problems. [1] Consider a fourth order plant under P-control sketched below. 0 c k a. Find k c and all closed loop poles at the stability limit. (Hint: You may first find the control gain and the frequency of oscillation at the stability limit.) b. If 2 = c k , what is the gain margin? For a unit reference input (i.e. r = 1), find the asymptotic final value of y , ) ( lim t y y t ss = . c. Now we consider PID control instead of P-control. Tune the parameters of the PID controller by the ultimate sensitivity method of Ziegler and Nichols. [2] A single axis accelerometer is sketched below. The accelerometer is to be tested by mounting it on a shaker table which provides a force input ) ( t F in to the instrument package.
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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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Final Exam_S06 - University of California Mechanical...

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