a [8] | Total 80]30)25| 25] 440 AE 157, Spring 2015 San José State University March 11th, 2015 Exam #1, (75min) ~Soluteas - Exam’s duration is 75/min). Exaun is closed book. No formula (cheat)-sheet aud calculator is allowed. Good. Ick! 1, (Opts) A mass M = Sky is supported by a spring with spring coustaut k = 400. /m aud a damper with b= 40N ~ s/n. as shown iu Figure-L, When a mass m = 2hy is gently placed on the top of ‘mass M, the system exhibits vibrations. Asmiming that the governing equation of motion is given as (M+ mjit-+ bi-+ kr = mg, you are asked to determine ehe followings Figure I> Mass spring system, (a) Assume that initial conditions are given as (0) = 0, (0) = 0. What is the lnplace transfor. ‘mation of this differential equation? CBr gre Dc ue tive (es WY dona spot ule!) SXG) (Aa) +b5.X65) + Ex{s) =. g- 06) (2) XO)E Haw) a 63K) = ~-4) 2) x@= $s) IIs, SAH] +980 X(s) = 2e(9.869) 6) = ABE ($2) +405 + oo Aos® + qos « és S0 Asse at ano egies as 20) 1, 0)=2. (Len ge 5.$07 mf) 1. Whats the tons fet (nape domain) which define the rSonse with espe to the given nl condons? @io¥ wives « econ = 14 614 vba) =) 40CSeG) ~SHlo)~ sti) ceca atl) Heer) , . = 14.6% UG) 10S xle) 405K) toile « 4s. 6) ~ Weak) eo x65) = (9 €4OLK A) UlsIClos’ 240, cece] = lOs.xlel tO ile) eoule) 415.644 x()= 405 + 60 lost se) __¢ ~ ®6)(2) @ fey xe F fey] ~ vsrea. o salGe) «xls %/p2. (SOpts) The block diagram structure, given in Fignre-2, represents a complex aevial wutnanned ypstem tnd is provided for analysis. Figure 2: Aerial unmanned system, (a) Using the given block diagram strnecure, derive the corresponding closed loop transfer function from input Rés) co output ¥%6) Y= Gio (1> S3 (eGo) Az Whe Ge | bs C-K34 bs eh ¥ (=< CGu¢ = Hr Gr.6) Ag ¥ C+ Ge - Gre jee G ~~ ~ #3 7 ee R~y¥ eH @q {ihr Gr a Y= G; (ye Gb (> GG Cre) Gia (MG) y tar Gr As ar Gz DEG Gy yet Ganterse y y Uae Ache Gr ose 2G (Hrd, x(airG) \ a HG GH (es &) y Vs Br Gx Re rs + ee eee CCM GIR © Ca G Hes QE abe Bebe + Gly + UGG Go Gites OGG Ue Haber Coby Hs GHG zu YG. GQnreas @ “Ry At GrGs Wy OG Gy 4G. Ky + Gp hy Are GEG RS(b) In Figure-2, nssume that 2, = Hy = Hy = 0 and Gp = 1. Let's consider that Gy(s) represents the djuami etm given by Be 384 35 4, Assuming Gi(s) = 1, what is the characteristic equation (CE) of the closed loop system? ‘What are the closed loop pole locations? AS os = 1s Gay ey ee PO YG Ag ~ Ros) ao (a 53812 Yost _ arian = RG) de (Fan 3 RoR ca Ga S3S kr A. Derive the state-space representation of the shuplificd dywamics given by Gy(s). Very clearly show ehe state-space matrices A,B, C and D. © Xe OK TK HOU (: Hs eh) s % 5 Sakae Xr te oe xu igi SS acbara | 5 A Ingen so, tang the state apace msm A,B,C ad, it spe to reat tare spac nfrmatin to epee tranaer nena, Starting withthe deta ae Lt apes B= Art Bu y=Cr+ Du derive @ formula (which is valid in s (Laplace) domain) as a fonction of state space mati 1s Uhat relates state space represeutation to transfer funetion vepresentatiou. (simplify your ‘algebra as unich as you can! show your work for partial cre!) xe fee h D Lopiace sxtal=Axto)t Bals) © gr CeeBe [Bonen Ys) = Cx) « Duls) (a)oa-alxer=a 06) > fer Grito. D Yosj= C xG\« Ou) vispr(cGerai. 8 +0] or) Y6\_ = ¢ (se-a)oa ‘ & ws) Ho43. (28pts) Starting with the general definition of a second order system wh OO) = Tye ae (a) Derive an expression for the pole locations of such second order system as & finetion of ¢ and a (simplify your algebra as much as you ean! show yonr work for patil credit!) &¥ eps su eO => Seas ~ O/aR a4 du @ a (b) Assume that you are provided with the following dynamic system F428 +100 =u Find the natural frequency-2,, damping ratio and damped natural frequency-wiy cuarocteristies of this system, (simplify your algebra as muck as yon can! show your work for partial credit!) he yee TC. Gls) a ub} > se Wproasew sss wwe) st ers etoo wsaco =Sfeoande Orato gheh Qu oo, Jeg Wy = 40. Ug A wee BO fags GS e[acome | won oo 7 10 A Bhs4. (25pts) The following block diagram represents a simple control stmeture of a pitch attitude of a satellite. In Figure-3, H(s) is the measurement transfer fnction and is H(s) = 1 for the sake of our tes cease bts *f Reset analysis. Plant > Pe) + fm Bia) Figure 3: A generic feedback contarol diagran. (a) Assuming that O(s) = p+ Ki/s and P(s) = 1/[s? + 6s+8}, find w range for the PI controller Parameters so that the feedback control system is usymnptotically stable MGl PS. Ris) (Er Pc Rowate =) -(*'9) (eu) @) (b) In the following sxaph, very clearly show the feasible region of eatrespouding PT control system patametors. Shade the rogion of feasible control system fees: bole Cegiow ameter onic! KBs bene le