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04S-ME304-Final - Middle East Technical University...

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Middle East Technical University Mechanical Engineering Department 1956 ME 304 CONTROL SYSTEMS Spring 2004 Sections 01, 03, 04 Course Instructors: Dr. Tuna Balkan, Dr. Kemal Özgören, Dr. Bülent E. Platin FINAL EXAMINATION June 04, 2004 Time Allowed: 180 minutes Open Notes and Books All questions are equally weighted List No. : ……..……..………… Student No. : ……..…………… Name : ………………………… SURNAME : ………………….. Signature : …………………….. 1 2 3 4 5 6 Σ
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ME304(Sections01,03,04)/04S/Final/Balkan+Özgören+Platin Page 1 PROBLEM 1: Consider the velocity control of a mass m=13kg by a proportional controller of gain K p in [N/V]. Suppose that the transfer function of the velocity sensor that generates velocity measurements in electrical voltage is given as 5 s 7 3 ) s ( H + = where the unit of H(s) is [V.s/m]. It can be shown that the closed loop transfer function between the velocity v(t) of the mass and the reference voltage input r (t) for this control system is p 2 p VR K 3 s 65 s 91 ) 5 s 7 ( K ) s ( G + + + = where the unit of G VR (s) is [m/V.s]. a) Draw a detailed block diagram of this control system, defining and indicating all physical variables and entering an appropriate transfer function expression inside each block. b) Verify the closed loop transfer function G VR (s) given above between the velocity v(t) of the mass and the reference voltage input r (t) for this control system by using your block diagram.
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