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ME2142 Feedback Control Systems Worked Examples on Physical Modelling

17thst August 2012

1.
k1

m
b

k2

For the system shown in the figure above, obtain the transfer function

X (s) . F ( s)

Answer: Consider the free-body diagram of the mass and a point A at the connection between the two springs. Let the displacement of the Point A be y(t).

x(t) f1

m
Considering the mass, For the Point A, Combining (1) and (2), Therefore,

f2
f1 f 2 m x f f1 f 2

(1) (2) giving

f m x
1 X ( s) F ( s ) ms 2

F ( s ) ms 2 X ( s )

ME2142Feedback Control Systems/page 2


2.
x1
k m b

x2

For the system shown in the figure above, derive the transfer function

X 1 (s) . X 2 ( s)

Answer:
The tensile forces in the spring and dashpot are, respectively, f s k ( x 2 x1 ) and f d b( x 2 x1 ) . Using Newtons Law, Giving Taking the Laplace Transform Transfer function is f s f d m1 x k ( x 2 x1 ) b(( x 2 x1 ) m1 x k ( X 2 X 1 ) b( sX 2 sX 1 ) ms 2 X 1 X1 bs k 2 X2 ms bs k

3.
k2 k1

m
b

For the system shown in the figure above, derive the transfer function

X (s) . F ( s)

Answer:
Assume tensile forces in both springs and the damper. The free body diagram is then
x(t) f1 f2
m

fb

f 1 f b f 2 mx 2 with f 1 f b f and f 2 k 2 x f k 2 x m x Taking Laplace Transform F k 2 X ms 2 X 1 X Transfer function is 2 F ms k 2

ME2142Feedback Control Systems/page 3

4.

vi

R1

R2

vo

For the circuit shown in the figure, derive the transfer function

Vo ( s ) . Vi ( s )

Answer:
The transfer function for the circuit shown is Z ( s) Vo ( s ) f Vi ( s ) Z i ( s)

where Z f ( s ) and Z i ( s ) are the feedback and input impedance respectively.


With

1 R2 1 1 1 , then Z f ( s ) and X c . sC R2Cs 1 Zf X c R2


Z ( s) Vo ( s ) R2 f Vi ( s ) Zi ( s) R1 ( R2Cs 1)
Cf

5.
Ci Vi Ri + Rf Vo

For the circuit shown above, derive the transfer function Answer: Zf Vo ( s ) Vi ( s ) Zi with and
Z i Ri X i Ri 1 1 1 Zf Rf X f R C s 1 1 i i sC i sC i

Vo ( s ) . Vi ( s )

or

Zf

Rf 1 Rf C f s

giving

Z R f Ci s Vo ( s ) f Vi ( s ) Zi ( RiCi s 1)( R f C f s 1)

ME2142Feedback Control Systems/page 4

6.

For the circuit shown above, derive an expression relating the output voltage, Vo, to the input voltages V1 and V2.

Answer:

V V 0

I1 I 2 I f 0

V1 V2 Vo 0 R1 R2 R3

Vo ( s )

R3 R Vi ( s ) 3 V2 ( s ) R1 R2

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