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C 52.17 V/
C.
This gives the equation for the ideal straight line as:
E
L
(T) = 52.17 T
(in V).
However, the example in the book is wrong, so a better solution would be
based on
E (400) = 22131 10
6
V,
which gives
K =
22131
400
= 55. 328 V/
C
(b) Determine the sensitivity of the sensor.
Solution: Sensitivity is dened as
dE(T)
dT
, which gives
dE (T)
dT
=
d
dT
_
38.74T + 3.319 10
2
T
2
+ 2.071 10
4
T
3
2.195 10
6
T
4
_
=
38. 74 +.0 663 8T + 6. 213 10
4
T
2
8. 78 10
6
T
3
,
which is temperature dependent.
1
(c) Determine the maximum non-linearity of the system, as function of the full-scale
(400
C).
Solution: The non-linearity is given by E (T) E
L
(T), where E
L
(T) is the
ideal straight line from exercise (1a),
i.e.
0 50 100 150 200 250 300 350 400
2.5
2
1.5
1
0.5
0
0.5
1
x 10
4
Temperature, T
E
(
T
)
True model
Linear approximation
N(T) = E (T) E
L
(T) =
= 38.74T + 3.319 10
2
T
2
+ 2.071 10
4
T
3
2.195 10
6
T
4
+ 55. 328 T
The derivative w.r.t. T is then
d
dT
_
38.74T + 3.319 10
2
T
2
+ 2.071 10
4
T
3
2.195 10
6
T
4
+ 52.17 T
_
= 90. 91 +.0 663 8T + 6. 213 10
4
T
2
8. 78 10
6
T
3
,
Setting to zero and solving we get the maximum nonlinearity at T = 256. 98
T
.
Assume that
R
p
= 0.1 and
R
1
=
R
2
=
R
3
= 0.05, and that R
1
= R
2
= R
3
= 200
.
(a) Estimate the mean V
s
and the standard deviation
V
s
of the supply voltage.
Solution: The mean is given by
V
s
=
1
N
N
n=1
V
s
[n] =
1
10
10
n=1
V
s
[n] = 4.990
The standard deviation is given by
V
s
=
_
1
N 1
N
n=1
_
V
s
[n] V
s
_
2
0.0137
Note that the book uses
1
N
even for standard deviation. This is WRONG,
especially for small N.
3
(b) Derive an expression for the total variance,
2
E
of E, as a function of the resis-
tance R
p
, where
E = V
s
_
R
1
R
1
+R
p
R
2
R
2
+R
3
_
.
Solution: The total variance is given by
2
E
=
_
E
V
s
_
2
2
V
s
+
_
E
R
1
_
2
2
R
2
+
_
E
R
2
_
2
2
R
2
+
_
E
R
3
_
2
2
R
3
+
_
E
R
p
_
2
2
R
p
The partial derivatives are:
_
E
V
s
_
2
=
_
R
1
R
1
+R
p
R
2
R
2
+R
3
_
2
_
E
R
1
_
2
=
_
V
s
R
p
(R
1
+R
p
)
2
_
2
_
E
R
2
_
2
=
_
V
s
R
3
(R
2
+R
3
)
2
_
2
_
E
R
3
_
2
=
_
V
s
R
2
(R
2
+R
3
)
2
_
2
_
E
R
p
_
2
=
_
V
s
R
1
(R
1
+R
p
)
2
_
2
.
(c) Looking at a 2
E
, how much of the total variation does the supply voltage
variation account for, when R
p
= 150 ?
Solution: Putting in numerical values, we get
2
E
=
_
200
200 + 150
200
200 + 200
_
2
(0.0137)
2
+
_
4.99
150
(200 + 150)
2
_
2
0.0025+
+
_
4.99
200
(200 + 200)
2
_
2
0.0025 +
_
4.99
200
(200 + 200)
2
_
2
0.0025+
+
_
4.99
200
(200 + 150)
2
_
2
0.01
1. 252 1 10
6
=2
E
= 2
1. 252 1 10
6
2.2380 10
3
This corresponds to a 95 % condence interval for the output, E. The contri-
4
bution from V
s
is
_
E
V
s
_
2
2
V
s
=
_
R
1
R
1
+R
p
R
2
R
2
+R
3
_
2
2
V
s
=
_
200
200 + 150
200
200 + 200
_
2
(0.0137)
2
1. 629 4 10
3
As a percentage of the 2
E
interval, this is
2
_
_
E
V
s
_
2
2
V
s
2
E
=
2
9. 576 0 10
7
2.2380 10
3
100 % 87. 45 %.
4. A temperature measurement system is given in the gure below, with transfer func-
tions of the individual elements as in the gure.
(a) Calculate the dynamic error E (T) of the system. Which element in the system
is the dominant cause of this error?
Solution: We want to know the dynamic error, E (t), when the system input is
a unit step, u(t). This was unclear in the problem description, but was claried
during the exam. From [4.45] in the text book we have the system Laplace
transform
T
M
(s) =
1
s
1
1 + 10s
1
(1 + 10
4
s)
1
(1 + 1/200s)
2
=
=
1
s
A
s + 0.1
B
s + 10
4
+
Cs +D
(s + 200)
2
.
The error is thus
E (s) = T
M
(s) T
T
(s) =
1
s
A
s + 0.1
B
s + 10
4
+
Cs +D
(s + 200)
2
1
s
=
=
A
s + 0.1
B
s + 10
4
+
Cs +D
(s + 200)
2
,
which gives
E (t) =
_
Ae
0.1t
+Be
10
4
t
+Ee
200t
(1 + 200t)
_
.
We see that the B and E terms decay rapidly to zero, while the rst term takes
about 50 s to decay. Thus, the rst block is dominant when it comes to the
dynamic error.
5
(b) Assume that the input temperature is varying as
T
T
(t) = 5 sin(10
2
t) + 2 sin (50t) .
What is the output of the system? Explain this behavior.
Solution: Sinusoidal input gives sinusoidal output, with output
|G(j
0
)| sin (
0
t + arg G(j
0
)) .
In this case, |G(j)|, is
|G(j)| =
1
j
1
1 + 10j
1
(1 + 10
4
j)
1
(1 + 1/200j)
2
With = 10
2
, this is
=
1
j10
2
1
1 + 10j10
2
1
(1 + 10
4
j10
2
)
1
(1 + 1/200j10
2
)
2
80
and with = 50 this is
1
i50
1
1 + 10i50
1
(1 + 10
4
i50)
1
(1 + 1/200i50)
2
4 10
5
.
The same principle is used to calculate the argument. The important part
here is, however to realize that the 50 Hz part will almost negligible in the
output. This is because the system acts as a low-pass lter. Fast temperature
uctuations will not be captured using this system.
5. An ultrasonic Doppler owmeter is used to measure the owrate of particles sus-
pended in a liquid. The setup is shown in the gure below. The transmitting trans-
ducer is transmitting a continuous sound wave at f = 1 MHz and the velocity of the
particles is in the range of 5 to 20 m/s. The angle = 30
) 5 5831. 8 Hz
For a ow of 20 m/s we have
2 10
6
1485
cos (30
) 20 = 23327 Hz
The sampling theorem states that we need to sample faster than twice the
maxmimum frequency. This means we need to sample faster than 2 23327 =
46654 Hz, i.e. faster than 46.7 kHz.
(c) Mistakes when installing the owmeter causes the angle to vary randomly around
= 30
and
standard deviation
= 1
2
v
=
_
v
_
2
=
_
c
2
f
f cos
2
sin
_
2
or 4
,
we will receive a f of
f =
2f
c
(cos ) v =
2 10
6
1485
(cos 34
) 20 = 22331 Hz,
and given that we believe the angle to be 30
19. 15 m/s,
7
thus the error is
error =
1485 22331
2 10
6
cos 30
20 0.85 m/s
As a percentage of the full scale velocity this is
0.85
20
100 % = 4. 25 %
8