Servomechanisms and Motion Control (Mct/SERVO/100)

Tutorial Problems #1


1- For the motor, load, and torque-speed curve shown, finds the transfer function
a
L
E

.


2- A two phase servo motor has the rated voltage applied to its reference phase of the
winding. The torque speed characteristic of the motor with Va =115 volts at 60 Hz
applied to its control phase winding is shown in the figure below. The moment of
inertia of the motor and load is and the viscous friction of the load is
negligible.
2 5
10 m Kg

a- Obtain the transfer function between the shaft position and the control voltage.
b- Obtain an expression for the shaft position due to the application of a step voltage
( volts) to the control winding. 115 =
a
V








3- For the radar position control system, let the potentiometer transducers give 1 volt per
radian of position. The transfer function of the servo amplifier is
( )
( )
7
01517 . 0 1 10
+
+
=
s
s
s G . Assume the initial angular position of the radar is zero. The
transfer function between the motor control phase voltage and the radar position
a
V
is ( )
( ) s s
s M
01571 . 0 1
733 . 2
+
= .
Speed
rpm
Torque (N m)
0.2
3000
a- Derive the transfer function of the system.
b- For a step change in the command angle of 180 degrees, find the time response of the
angular position of the antenna.

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Servomechanisms and Motion Control (Mct/SERVO/100)
Tutorial Problems #1


4- Consider the antenna position control system shown below.


Figure 1


Figure 2
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Servomechanisms and Motion Control (Mct/SERVO/100)
Tutorial Problems #1




Figure 3


Table 1


Table 2




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Servomechanisms and Motion Control (Mct/SERVO/100)
Tutorial Problems #1


a- Find the transfer function for each subsystem of the antenna azimuth position control
system schematic shown in Fig. 2-3. Use Configuration 1, Table 2.

b- Assume the feedback path is disconnected.
i- Predict, by inspection, the form of the open loop angular velocity response of the load
to a step-voltage input to the power amplifier.
ii- Find the damping ratio and natural frequency of the open loop system.
iii- Obtain the open-loop state and output equations.
iv- Use SIMULINK to plot the open loop angular velocity response to a step voltage
input.

c- Design a closed-loop response as follows:
i- Find the closed loop transfer function using block diagram reduction.
ii- Replace the power amplifier with a transfer function of unity and evaluate the closed
loop : peak time, percent overshoot, settling time for K=1000.
iii- Use SIMULINK to plot the step response of the transfer functions in a and b.
vi- For the simplified model in b, find the value of K that yields 10% overshoot. Verify
by simulation.

d- Find the range of the amplifier gain required to keep the closed loop system stable.

e- Find the value of K that yields a 10% error in steady state.

f- Use the root locus to find the preamplifier gain required for 25% overshoot. Hint: use
the MATLAB command rlocus and rlocfind.

5- Consider the two-link arm shown below. The two point masses m1 and m2 are
attached to rigid links L1 and L2. The links are assumed massless as their masses are
small compared to the point masses. The hinged joints constrain the system in planar
motion. The friction is negligible. Use Lagranges equations to obtain the differential
equations of motion.


m2
m1 L2
L1










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