# final-so1 - Final Exam EEL 3657(Spring 2003 Instructions 1...

This preview shows pages 1–7. Sign up to view the full content.

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
This is the end of the preview. Sign up to access the rest of the document.

Unformatted text preview: Final Exam EEL 3657 (Spring 2003 Instructions 1. There are totally 4 problems in this exam. 2. Show all work for partial credit. 3. Assemble your work for each problem in logical order. 4. Justify your conclusion. I cannot read minds. Problem 1. (25 points) For the unity feedback system sho . below, G6) = (50035) , s s + _R(S) + % E(S) (3(5) 1). What is the expected percent overshoot for a unit step in‘ut? 1 2). What is the settling time for a unit step input? i 3). What is the steady-state error for an input of 5u(t), wher u(t) is a unit step ﬁmction. 4). What is the steady-state error for an input of 5tu(t), whe - u(t) is a unit step function. §§vuiknnz The closed-loop transfer function is, “)' T _ 5000 “)"s2+75s+smm from which, a)" = V5000 and 2(0),, = 75. Thus, 4' = 0.5 ‘ and %OS = e—W‘IITFXIOO = 14.01%. 4 = —-§4—=0.107 second. 29‘ T‘= cub 75/2 3) , Since system is Type 1, eSS for 5u( t) is zero. i 5000 _ _5__ Q) Since KV is = 66.67, e33 - Ky — 0.075. I i - Problem 2. (20 points) 1 1 1. 10 oints Consider H s =Gs , H s =Gs a, )( p ) l() ()SZJFZS+2 () ()S2_2S+2 At a frequency of a) = 2 rad/s, G(ja)) has a magnitude of A and an angle of ¢. What are the magnitude and angle of H I ( jw) and H 2 ( jw) at the sam‘ frequency? Ke-Z: S 2). (10 points) Consider G(s)H(s) = , determine th frequency a) at which 4G(ja))H(ja)) = —l810°. = +a-C'I +-+a-"3 =“7e, 1 [swan] -.= {£479 = 2r? 0 ' . ' f . HA2» A Lt” . “S "7 2r?" : 011/} 415:“): . _________.___._.\_—_._..—- -3 w. I I . . __ 6 J 5 _~_ ﬁm __%__/_i- ___.'_-_‘—.J.‘-Z_—:_____-._ .-_..___.__._. ________.._,___._______tv_4g'~___w 4______«~_______..__~__..____ .__._.—r——-—— Problem 3. (20 points) 1). (10 points) Sketch the straight-line Bode magnitude p101 for G(s) = 2) (10 points) Identify G(s) from the magni shown below (G(s) has no. complex poles): dB 20 2 s2(s+2)' tude plot of th straight-line Bode diagram as 1/0005 Problem 4. (35 points) The ﬁgure shown below is the blo k diagram of the servo-control system for one of the joints of a robot. 1). (10 points) Show the plant (“Motor and arm”) transfer ction is given by 49L (5) 0.15 Ea (s) s(s + 1)(s + 5) ' 2). (10 points) With the compensator replaced with a gain I , sketch the root locus of the system, and specify asymptotes, break-in/break-out points. 3). (15 points) Given the compensator Gc(s) = 30(K1D + Ds) as shown in the diagram, calculate the compensator gains K p,K D to put the dminate closed-loop poles at s = ~1i j, and sketch root locus of the compensated syste . Compensator Motor and arm r_____.. 12 lg 4514-2451911 =__’~ * l + ~L— 305% #54245 +20 W“ #59245“: = I I? _ 3/20 1.7.05 5"+é§+5 ‘ 5154-1)“ 5) (2D°T’>/>°c£ “=0 2 (pa: 3 ’9 " O 0 U ﬂames“ gee ,mzsw, __’__\$.~ out: ~=~1 ...
View Full Document

## This note was uploaded on 01/14/2012 for the course EEL 3657 taught by Professor Staff during the Spring '08 term at University of Central Florida.

### Page1 / 7

final-so1 - Final Exam EEL 3657(Spring 2003 Instructions 1...

This preview shows document pages 1 - 7. Sign up to view the full document.

View Full Document
Ask a homework question - tutors are online