FAR > 237 BULERAFLGEFEGLABLERRE HEH ARCA) ESE | 237 aa BAL 7 a2 Rem 1 x Note: SNS SESCAT SATIRE 1. (50%) Considering the motor drive system in Fig. 1, where all the parameters are listed in Table I. Please try to answer the following questions: (1) (7%) Derive “two” dynamic equations of motor drive system with (i) the input of applied voltage e,(t) and the output of armature current, and (ii) the input of armature current and the output of motor velocity @m(t). (show the analytic form without numerical values) (2) (8%) Show the block diagram of motor drive system in Lapalce domain. The system input is the applied voltage es(t) and the output is the motor velocity mt). (show the analytic form without numerical values) ) (15%) Assuming the motor velocity is measureable, please try to use a proportional control gain, Kp, to design a critical damped dynamic system. You must (i) draw a block diagram to show the closed-loop system with the input of command velocity @,(t) in Lapalce domain and output of motor velocity dm(t) in Lapalace domain, and (ii) use the root Jocus to determine the value of Kp. (use the numerical values to calculate Kp) (4) (9%) Try to analyze the steady state error («n(t = 20)-9(t = 20))of closed-loop system in (3) with a step velocity input p(t) =1. (use the numerical values to calculate the result) (8) (15%) Please explain why a steady state error occurs on the closed-loop system in (3) and recommend a velocity controller to eliminate the steady state error. You must explain the property of this designed controller which can eliminate the steady state error. (use the numerical values to caleulate the result) % te Jp 1 Keen? ‘moment of inertia Statorflux Kp = 0. NmvAmp torque constant auctOPM — K_ = 0,1 voltsrad/see backemf constant <~ om = 2 ohm armature resistance applied e, lp = 4mH armature inductance voltage ca applied terminal voltage in volts jig = armature current in amperes airgap Om mag = electromagnetic airgap torque (moment) = Ky tig T Micgap=Krtia c=Ke* tm epg = induced (back em) voltage = Ket in volts Fig. 1APMDCservodrive model @ = angular velocity in rad per see Table I Parameters of motor system RAGFAR + 237 BULERAFLOFEFRALMRBEFRRD AE lA CAD HAR + 237 BAL T H2 HB 2H 0 1 0} fo _|e=]0 0 1 )xs]olu 2. (60%) Consdera system G1" Ty yg) [1] yall 0 ojx (1) (10%) Derive the state response x(7) to an initial state x(0)=[1 1 1)’, when u(t)=0. @ (10%) Derive the transfer function G(s) of the system. Sketch the Bode plot of G(s) (3) (10%) Sketch the Nyquist plot of G(s). Discuss stability of the closed-loop system of Fig. 2 with Ge(s)=1, using the Nyquist Criterion, (4) (10%) Referring to Fig. 2, is it possible to stabilize the system by PD-control K+ Kos G(8)= K+ Kos (0) = Ky + Kyo et with sufficiently small +? If yes, please design such controller. If no, please explain the reasons. (5) (10%) Referring to Fig. 2, design a second-order controller G(s) = 22 *48+ 5 tg attocate Sasa, the closed-loop poles at s = ~I,~2,~3,-4,-5 a RG) GAs) pm} Gls) Ys) Fig. 2 A closed-loop system. RRS