SSY155 Applied Mechatronics Examination date
|
|
- Ashlynn Cameron
- 5 years ago
- Views:
Transcription
1 Chalmers University of Technology Department of Signals and Systems SSY55 Applied Mechatronics Examination date 00 Time: :008:00 Teacher: Esteban Gelso, tel Allowed material during the exam: Mathematical handbook of your choice. Calculator without plotting functionality handwritten Apage with information of your choice Scientific papers: Nordin, M., Gutman, P.O., Controlling mechanical systems with backlash a survey, Automatica, (669), 8, 00. Roos, F., Johansson, H., and Wikander, J., Optimal selection of motor and gearhead in mechatronic application, Mechatronics, (67), vol 6, 006. Glad, T., and Ljung, L., Chapter from Control Theory, Multivariable and Nonlinear Methods The exam consists of 5 exercises of a total of 50 points. Nominal grading according to /0/0 points, you need points to pass the course with grade, 0 points to pass with grade and 0 to pass the course with grade 5. Solutions and answers should be written in English and be unambiguous and well motivated, but preferably short and concise. Results are mailed out latest two weeks after the exam. You may check your grading of your exam. Time and place will be mailed out in connection with the examination result. GOOD LUCK!
2 . Consider a permanent magnet DC motor. The armature resistance is measured to be R a = 0.5 Ω. When V t = 0 V is applied to the motor, it reaches 00 rpm steadystate speed and draws 0 A. Determine a the back emf voltage, b resistance losses, c power delivered to the armature, d and torque generated.. Consider a ball screw motion conversion mechanism with a pitch of p = 0 rev/cm which is used to position a table carrying a workpiece. Note that the the movement of the table is assumed to be horizontal. The mass of the table and workpiece is m = 500 kg, and the resistance force of the load is F r = 500 N. Determine the reflected rotary inertia and torque seen by a motor at the input shaft of the ball screw. [0p]. a Draw the model of an op amp and describe the idealized assumptions on it. b What is a Programable Logic Computer (PLC)? c For a mechatronic position system a PD controller is being used. A position sensor is available and for the Dpart one can choose between including a speed sensor or taking the derivative of the position signal. What is the advantage/disadvantage with these two possibilities? d Describe in a few words why it normally is advantageous in mechatronic applications to use a high speed motor in connection with gears reducing the velocity.. Consider the following system, controlled with a relay r K s(s)(s) C
3 and with K =. Relays, often gives oscillations in the system. One way to lower the oscillations is to introduce a deadzone in the relay. a Determine frequency and amplitude of the oscillation in the system. b Determine the necessary size of the deadzone to decrease the amplitude of the oscillation by a factor. 5. The temperature of a greenhouse is measured for control purposes. The temperature varies between 0 o C and 50 o C and is measured by using a resistance temperature detector (RTD) sensor, type PT00. The following circuit is used in the signal conditioning stage to amplify the signal of the sensor. Thus, the voltage at the output Vo varies between 0 V and 0 V : 0 V corresponds to 0 o C and 0 V to 50 o C. Determine the values of the resistances R and R if: 0 o C) = 00 Ω 50 o C) = 8.5 Ω ELECTRÓNICA ANALÓGICA Y DIGITAL GUÍA DE PROBLEMAS R 0K R.5V 8 A 6 R 8 A 6 Vo 7 R PT00 0K 7 Datos: R (PT00@0ºC) = 00Ω R (PT00@00ºC) = 8,5Ω [0p].9 Analice el siguiente circuito:
4 . a The voltage relation is U = L di(t) dt At steadystate given, this becomes Ri(t) U bemf 0 V = ΩA U bemf b c d and U bemf = 00V. R i = ΩA = 800W P m = U bemf i = 00V 0A = kw ω T = P m T = 000W =.8Nm 00 π/60s. Distance to rotation: x p = ω. Force to torque: F/p = T. This gives the following relation for the reflected inertia J eff ω = J eff ẍ p = T = F r /p Compared to ẍ m = F this gives J eff p = m and, hence, J eff = 500/(0 π0 ) kg m = kg m. The torque on the input shaft becomes T eff = F r /p = 500/(0 π0 ) = Nm. If the movements is assumed to be vertical: T eff = (F r m g)/p = ( )/(0 π0 ) = 0.87Nm. a ω = and C = /π. b The Nyquist curve of the linear part of the system is not changed but the describing function. The amplitude is half if the following equation hold D πc/ (C/) = πc where D is the deadzone. The solution is D = C/ = /(π ).. a Openloop gain, Input impedance, Output impedance 0, infinite bandwidth. b A PLC is a robust industrial computer specially designed for control and automation tasks. c A speed sensor brings an extra cost of the sensor. Taking the derivative of the position signal can be noise sensitive. d To obtain the speeds and torques typically required in mechatronic applications, it is cheaper (in cost and weight) to use a smaller highspeed motor and to reduce speed (and increase torque) with gears.
5 5. Replace () in () V o = i (R ) = V R R () V = V i R 5 = V R 5 V R 5 () V = V R 5 R 5 () Find expression for V V = (V V ) R 5 () R 6 = R p( R 5 ) R p R 5 (5) R 6 R p ( R 5 ) V = V z = V z R 6 R 7 (6) R 7 = ( R 5 )(R p ) R p (7) Find expression for V V z = V (i i ) = V ( V V V R ) (8) Replace (9) and (6) in () and then () in () V = V z R R R 7 R 5 R p R 7 (9) (a) V o = 0 R = R p = 00 Ω V o = V z (R )(R p R )( R 5 )R 5 R 7 ( R ) (b) V o = 0V, R p = 8.5 Ω and from (0), R 8 kω (0)
SSY155 Applied Mechatronics Examination date
Chalmers University of Technology Department of Signals and Systems SSY155 Applied Mechatronics Examination date 937 Time: 8:3-12:3 Teacher: Jonas Sjöberg, tel 31-772 1855. Allowed material during the
More informationSolved Problems. Electric Circuits & Components. 1-1 Write the KVL equation for the circuit shown.
Solved Problems Electric Circuits & Components 1-1 Write the KVL equation for the circuit shown. 1-2 Write the KCL equation for the principal node shown. 1-2A In the DC circuit given in Fig. 1, find (i)
More informationSelection of precision micro drives
Selection of precision micro drives Overview Drive System and Selection DC and EC motors Motor data sheets, motor theory Motor gearhead selection 2017 maxon motor ag, Sachseln, Switzerland Media The Selection
More informationSelection of precision micro drives
Selection of precision micro drives Systematics of the drive selection Situation analysis, boundary conditions How is the integration into the environment? Preselection Determining the load requirements
More informationMechatronics Engineering. Li Wen
Mechatronics Engineering Li Wen Bio-inspired robot-dc motor drive Unstable system Mirko Kovac,EPFL Modeling and simulation of the control system Problems 1. Why we establish mathematical model of the control
More informationR10 JNTUWORLD B 1 M 1 K 2 M 2. f(t) Figure 1
Code No: R06 R0 SET - II B. Tech II Semester Regular Examinations April/May 03 CONTROL SYSTEMS (Com. to EEE, ECE, EIE, ECC, AE) Time: 3 hours Max. Marks: 75 Answer any FIVE Questions All Questions carry
More informationLecture (20) DC Machine Examples Start of Synchronous Machines
Lecture (20) DC Machine Examples Start of Synchronous Machines Energy Systems Research Laboratory, FIU All rights reserved. 20-1 Energy Systems Research Laboratory, FIU All rights reserved. 20-2 Ra R f
More informationMechatronics Modeling and Analysis of Dynamic Systems Case-Study Exercise
Mechatronics Modeling and Analysis of Dynamic Systems Case-Study Exercise Goal: This exercise is designed to take a real-world problem and apply the modeling and analysis concepts discussed in class. As
More informationMCE380: Measurements and Instrumentation Lab. Chapter 5: Electromechanical Transducers
MCE380: Measurements and Instrumentation Lab Chapter 5: Electromechanical Transducers Part I Topics: Transducers and Impedance Magnetic Electromechanical Coupling Reference: Holman, CH 4. Cleveland State
More informationFEEDBACK CONTROL SYSTEMS
FEEDBAC CONTROL SYSTEMS. Control System Design. Open and Closed-Loop Control Systems 3. Why Closed-Loop Control? 4. Case Study --- Speed Control of a DC Motor 5. Steady-State Errors in Unity Feedback Control
More informationENGG4420 LECTURE 7. CHAPTER 1 BY RADU MURESAN Page 1. September :29 PM
CHAPTER 1 BY RADU MURESAN Page 1 ENGG4420 LECTURE 7 September 21 10 2:29 PM MODELS OF ELECTRIC CIRCUITS Electric circuits contain sources of electric voltage and current and other electronic elements such
More informationADMISSION TEST INDUSTRIAL AUTOMATION ENGINEERING
UNIVERSITÀ DEGLI STUDI DI PAVIA ADMISSION TEST INDUSTRIAL AUTOMATION ENGINEERING September 26, 2016 The candidates are required to answer the following multiple choice test which includes 30 questions;
More informationOperational Amplifiers
Operational Amplifiers A Linear IC circuit Operational Amplifier (op-amp) An op-amp is a high-gain amplifier that has high input impedance and low output impedance. An ideal op-amp has infinite gain and
More information(a) Torsional spring-mass system. (b) Spring element.
m v s T s v a (a) T a (b) T a FIGURE 2.1 (a) Torsional spring-mass system. (b) Spring element. by ky Wall friction, b Mass M k y M y r(t) Force r(t) (a) (b) FIGURE 2.2 (a) Spring-mass-damper system. (b)
More informationRotational Systems, Gears, and DC Servo Motors
Rotational Systems Rotational Systems, Gears, and DC Servo Motors Rotational systems behave exactly like translational systems, except that The state (angle) is denoted with rather than x (position) Inertia
More informationAppendix A: Exercise Problems on Classical Feedback Control Theory (Chaps. 1 and 2)
Appendix A: Exercise Problems on Classical Feedback Control Theory (Chaps. 1 and 2) For all calculations in this book, you can use the MathCad software or any other mathematical software that you are familiar
More informationDcMotor_ Model Help File
Name of Model: DcMotor_021708 Author: Vladimir L. Chervyakov Date: 2002-10-26 Executable file name DcMotor_021708.vtm Version number: 1.0 Description This model represents a Nonlinear model of a permanent
More informationDC motors. 1. Parallel (shunt) excited DC motor
DC motors 1. Parallel (shunt) excited DC motor A shunt excited DC motor s terminal voltage is 500 V. The armature resistance is 0,5 Ω, field resistance is 250 Ω. On a certain load it takes 20 A current
More information(Refer Slide Time: 00:01:30 min)
Control Engineering Prof. M. Gopal Department of Electrical Engineering Indian Institute of Technology, Delhi Lecture - 3 Introduction to Control Problem (Contd.) Well friends, I have been giving you various
More information2002 Prentice Hall, Inc. Gene F. Franklin, J. David Powell, Abbas Emami-Naeini Feedback Control of Dynamic Systems, 4e
u Figure 2.1 Cruise-control model x Friction force bx m x u Figure 2.2 Free-body diagram for cruise control S P 278 Figure 2.3 Automobile suspension y m 2 k s b v car x m 1 k w Road surface r Inertial
More informationENGG 1203 Tutorial. Op Amps 10 Oct Learning Objectives. News. Ack.: MIT OCW Analyze circuits with ideal operational amplifiers
ENGG 1203 Tutorial Op Amps 10 Oct Learning Objectives Analyze circuits with ideal operational amplifiers News Mid term Revision tutorial Ack.: MIT OCW 6.01 1 Q1 This circuit is controlled by the charge
More informationELECTRONIC SYSTEMS. Basic operational amplifier circuits. Electronic Systems - C3 13/05/ DDC Storey 1
Electronic Systems C3 3/05/2009 Politecnico di Torino ICT school Lesson C3 ELECTONIC SYSTEMS C OPEATIONAL AMPLIFIES C.3 Op Amp circuits» Application examples» Analysis of amplifier circuits» Single and
More informationRobot Manipulator Control. Hesheng Wang Dept. of Automation
Robot Manipulator Control Hesheng Wang Dept. of Automation Introduction Industrial robots work based on the teaching/playback scheme Operators teach the task procedure to a robot he robot plays back eecute
More informationMassachusetts Institute of Technology Department of Electrical Engineering and Computer Science Electric Machines
Massachusetts Institute of Technology Department of Electrical Engineering and Computer Science 6.685 Electric Machines Problem Set 10 Issued November 11, 2013 Due November 20, 2013 Problem 1: Permanent
More informationFachgebiet Leistungselektronik und Elektrische Antriebstechnik. Test Examination: Mechatronics and Electrical Drives
Prof. Dr. Ing. Joachim Böcker Test Examination: Mechatronics and Electrical Drives 8.1.214 First Name: Student number: Last Name: Course of Study: Exercise: 1 2 3 Total (Points) (2) (2) (2) (6) Duration:
More informationMotion Control. Laboratory assignment. Case study. Lectures. compliance, backlash and nonlinear friction. control strategies to improve performance
436-459 Advanced Control and Automation Motion Control Lectures traditional CNC control architecture modelling of components dynamic response of axes effects on contouring performance control strategies
More informationLezione 9 30 March. Scribes: Arianna Marangon, Matteo Vitturi, Riccardo Prota
Control Laboratory: a.a. 2015/2016 Lezione 9 30 March Instructor: Luca Schenato Scribes: Arianna Marangon, Matteo Vitturi, Riccardo Prota What is left to do is how to design the low pass pole τ L for the
More informationTexas A & M University Department of Mechanical Engineering MEEN 364 Dynamic Systems and Controls Dr. Alexander G. Parlos
Texas A & M University Department of Mechanical Engineering MEEN 364 Dynamic Systems and Controls Dr. Alexander G. Parlos Lecture 6: Modeling of Electromechanical Systems Principles of Motor Operation
More informationExercise 5 - Hydraulic Turbines and Electromagnetic Systems
Exercise 5 - Hydraulic Turbines and Electromagnetic Systems 5.1 Hydraulic Turbines Whole courses are dedicated to the analysis of gas turbines. For the aim of modeling hydraulic systems, we analyze here
More informationECE2210 Final given: Spring 08
ECE Final given: Spring 0. Note: feel free to show answers & work right on the schematic 1. (1 pts) The ammeter, A, reads 30 ma. a) The power dissipated by R is 0.7 W, what is the value of R. Assume that
More informationModelling and simulation of a measurement robot
Modellbygge och Simulering, TSRT62 Modelling and simulation of a measurement robot Denna version: 4 oktober 2017 Servo- motor Strömregulator + u + i(t) [A] r (t) [V] u(t) [V] Arm Skruvtransmission Remtransmission
More informationELG4112. Electromechanical Systems and Mechatronics
ELG4112 Electromechanical Systems and Mechatronics 1 Introduction Based on Electromechanical Systems, Electric Machines, and Applied Mechatronics Electromechanical systems integrate the following: Electromechanical
More informationEDEXCEL NATIONALS UNIT 5 - ELECTRICAL AND ELECTRONIC PRINCIPLES. ASSIGNMENT No. 3 - ELECTRO MAGNETIC INDUCTION
EDEXCEL NATIONALS UNIT 5 - ELECTRICAL AND ELECTRONIC PRINCIPLES ASSIGNMENT No. 3 - ELECTRO MAGNETIC INDUCTION NAME: I agree to the assessment as contained in this assignment. I confirm that the work submitted
More informationLO-COG DC Gearmotors. Series GM8000. Series GM9000. Series GM BULLETIN LCG Series GM8000, GM9000, GM Power Your Ideas
BULLETIN LCG Series GM8, GM9, GM149 LO-COG DC Gearmotors Pittman brand LO-COG brush-commutated DC gearmotors offer smooth, quiet operation and long life. LO-COG gearmotors feature sintered steel spur gears
More informationME 3210 Mechatronics II Laboratory Lab 4: DC Motor Characteristics
ME 3210 Mechatronics II Laboratory Lab 4: DC Motor Characteristics Introduction Often, due to budget constraints or convenience, engineers must use whatever tools are available to create new or improved
More informationGenerators for wind power conversion
Generators for wind power conversion B. G. Fernandes Department of Electrical Engineering Indian Institute of Technology, Bombay Email : bgf@ee.iitb.ac.in Outline of The Talk Introduction Constant speed
More informationPositioning Servo Design Example
Positioning Servo Design Example 1 Goal. The goal in this design example is to design a control system that will be used in a pick-and-place robot to move the link of a robot between two positions. Usually
More informationINC 341 Feedback Control Systems: Lecture 3 Transfer Function of Dynamic Systems II
INC 341 Feedback Control Systems: Lecture 3 Transfer Function of Dynamic Systems II Asst. Prof. Dr.-Ing. Sudchai Boonto Department of Control Systems and Instrumentation Engineering King Mongkut s University
More informationMechatronics II Laboratory EXPERIMENT #1: FORCE AND TORQUE SENSORS DC Motor Characteristics Dynamometer, Part I
Mechatronics II Laboratory EXPEIMENT #1: FOCE AND TOQUE SENSOS DC Motor Characteristics Dynamometer, Part I Force Sensors Force and torque are not measured directly. Typically, the deformation or strain
More information6) Motors and Encoders
6) Motors and Encoders Electric motors are by far the most common component to supply mechanical input to a linear motion system. Stepper motors and servo motors are the popular choices in linear motion
More informationDesigning Information Devices and Systems II Spring 2016 Anant Sahai and Michel Maharbiz Midterm 2
EECS 16B Designing Information Devices and Systems II Spring 2016 Anant Sahai and Michel Maharbiz Midterm 2 Exam location: 145 Dwinelle (SIDs ending in 1 and 5) PRINT your student ID: PRINT AND SIGN your
More informationECE 201 Fall 2009 Final Exam
ECE 01 Fall 009 Final Exam December 16, 009 Division 0101: Tan (11:30am) Division 001: Clark (7:30 am) Division 0301: Elliott (1:30 pm) Instructions 1. DO NOT START UNTIL TOLD TO DO SO.. Write your Name,
More informationIntroduction to Synchronous. Machines. Kevin Gaughan
Introduction to Synchronous Machines Kevin Gaughan The Synchronous Machine An AC machine (generator or motor) with a stator winding (usually 3 phase) generating a rotating magnetic field and a rotor carrying
More informationOverview of motors and motion control
Overview of motors and motion control. Elements of a motion-control system Power upply High-level controller ow-level controller Driver Motor. Types of motors discussed here; Brushed, PM DC Motors Cheap,
More informationMotor Info on the WWW Motorola Motors DC motor» /MOTORDCTUT.
Motor Info on the WWW Motorola Motors DC motor» http://www.freescale.com/files/microcontrollers/doc/train_ref_material /MOTORDCTUT.html Brushless DC motor» http://www.freescale.com/files/microcontrollers/doc/train_ref_material
More informationMechatronic System Case Study: Rotary Inverted Pendulum Dynamic System Investigation
Mechatronic System Case Study: Rotary Inverted Pendulum Dynamic System Investigation Dr. Kevin Craig Greenheck Chair in Engineering Design & Professor of Mechanical Engineering Marquette University K.
More informationR a) Compare open loop and closed loop control systems. b) Clearly bring out, from basics, Force-current and Force-Voltage analogies.
SET - 1 II B. Tech II Semester Supplementary Examinations Dec 01 1. a) Compare open loop and closed loop control systems. b) Clearly bring out, from basics, Force-current and Force-Voltage analogies..
More informationESE319 Introduction to Microelectronics. Output Stages
Output Stages Power amplifier classification Class A amplifier circuits Class A Power conversion efficiency Class B amplifier circuits Class B Power conversion efficiency Class AB amplifier circuits Class
More informationThe basic principle to be used in mechanical systems to derive a mathematical model is Newton s law,
Chapter. DYNAMIC MODELING Understanding the nature of the process to be controlled is a central issue for a control engineer. Thus the engineer must construct a model of the process with whatever information
More information3. (a) Figure 3(a) shows a Bridge T network used in control systems. The element values are clearly marked in the figure.
I.E.S.-(Conv.) 1987 ELECTRICAL ENGINEERING PAPER - I PART A 1. (a) Define precisely unit step and unit impulse functions. Sketch the following function from t = 0 to t = 10 units, indicating all salient
More informationECE Circuit Theory. Final Examination. December 5, 2008
ECE 212 H1F Pg 1 of 12 ECE 212 - Circuit Theory Final Examination December 5, 2008 1. Policy: closed book, calculators allowed. Show all work. 2. Work in the provided space. 3. The exam has 3 problems
More informationSelection of Servomotors and Reducer Units for a 2 DoF PKM
Selection of Servomotors and Reducer Units for a 2 DoF PKM Hermes GIBERTI, Simone CINQUEMANI Mechanical Engineering Department, Politecnico di Milano, Campus Bovisa Sud, via La Masa 34, 20156, Milano,
More informationLinear Shaft Motor Sizing Application Note
Linear Shaft Motor Sizing Application Note By Jeramé Chamberlain One of the most straightforward tasks in the design of a linear motion system is to specify a motor and drive combination that can provide
More informationMECH 3140 Final Project
MECH 3140 Final Project Final presentation will be held December 7-8. The presentation will be the only deliverable for the final project and should be approximately 20-25 minutes with an additional 10
More informationPESIT Bangalore South Campus Hosur road, 1km before Electronic City, Bengaluru -100 Department of Electronics & Communication Engineering
QUESTION PAPER INTERNAL ASSESSMENT TEST 2 Date : /10/2016 Marks: 0 Subject & Code: BASIC ELECTRICAL ENGINEERING -15ELE15 Sec : F,G,H,I,J,K Name of faculty : Dhanashree Bhate, Hema B, Prashanth V Time :
More information6.003: Signals and Systems
6.003: Signals and Systems CT Feedback and Control October 20, 2011 1 Mid-term Examination #2 Wednesday, October 26, 7:30-9:30pm, No recitations on the day of the exam. Coverage: Lectures 1 12 Recitations
More informationDSC HW 3: Assigned 6/25/11, Due 7/2/12 Page 1
DSC HW 3: Assigned 6/25/11, Due 7/2/12 Page 1 Problem 1 (Motor-Fan): A motor and fan are to be connected as shown in Figure 1. The torque-speed characteristics of the motor and fan are plotted on the same
More informationEE-201 Review Exam I. 1. The voltage Vx in the circuit below is: (1) 3V (2) 2V (3) -2V (4) 1V (5) -1V (6) None of above
EE-201, Review Probs Test 1 page-1 Spring 98 EE-201 Review Exam I Multiple Choice (5 points each, no partial credit.) 1. The voltage Vx in the circuit below is: (1) 3V (2) 2V (3) -2V (4) 1V (5) -1V (6)
More information8 z 2, then the greatest value of z is. 2. The principal argument/amplitude of the complex number 1 2 i (C) (D) 3 (C)
1. If z is a complex number and if 8 z 2, then the greatest value of z is z (A) 2 (B) 3 (C) 4 (D) 5 4 2. The principal argument/amplitude of the complex number 1 2 i 1 3i is (A) 2 (B) 4 (C) (D) 3 4 3.
More informationManufacturing Equipment Control
QUESTION 1 An electric drive spindle has the following parameters: J m = 2 1 3 kg m 2, R a = 8 Ω, K t =.5 N m/a, K v =.5 V/(rad/s), K a = 2, J s = 4 1 2 kg m 2, and K s =.3. Ignore electrical dynamics
More informationChapter 7: Stepper Motors. (Revision 6.0, 27/10/2014)
Chapter 7 Stepper Motors (Revision 6.0, 7/10/014) 1. Stepping Angle Analysis The following analysis derives the formula for the stepping angle of the stepper motor. It has been reproduced and edited from
More informationExercises Automatic Control III 2015
Exercises Automatic Control III 205 Foreword This exercise manual is designed for the course "Automatic Control III", given by the Division of Systems and Control. The numbering of the chapters follows
More informationChapter 6: Efficiency and Heating. 9/18/2003 Electromechanical Dynamics 1
Chapter 6: Efficiency and Heating 9/18/2003 Electromechanical Dynamics 1 Losses As a machine transforms energy from one form to another there is always a certain power loss the loss is expressed as heat,
More informationSafety Barriers Series 9001, 9002 Standard Applications
Standard s Analog input with transmitter Smart 9001/51-80-091-141 09949E0 Load of transmitter U N = + 0 V... 35 V I N = 3.6 ma... ma R L ( 350 O U min (I N= 0 ma) U N - 9.5 V 14 V U N ( 3.5 V > 3.5 V Maximum
More informationÜbersetzungshilfe / Translation aid (English) To be returned at the end of the exam!
Prüfung Regelungstechnik I (Control Systems I) Prof. Dr. Lino Guzzella 9. 8. 2 Übersetzungshilfe / Translation aid (English) To be returned at the end of the exam! Do not mark up this translation aid -
More informationECE2210 Final given: Fall 13
ECE22 Final given: Fall 3. (23 pts) a) Draw the asymptotic Bode plot (the straight-line approximation) of the transfer function below. Accurately draw it on the graph provided. You must show the steps
More informationDYNAMIC ANALYSIS OF DRIVE MECHANISM WITH FUNCTIONAL MODEL
DYNAMIC ANALYSIS OF DRIVE MECHANISM WITH FUNCTIONAL MODEL Yasunobu Uchino Department of Mechanical Engineering, Hosei University 3-7-2 Kajinocho, Koganei-shi, TOKYO, JAPAN Tatsuhito Aihara Department of
More informationMAE106 Homework 2 - Solution DC Motors & Intro to the frequency domain
MAE06 Homework 2 - Solution DC Motors & Intro to the frequency domain University of California, Irvine Department of Mechanical and Aerospace Engineering Problem You are given the circuit shown in Figure.
More informationMCE603: Interfacing and Control of Mechatronic Systems. Chapter 1: Impedance Analysis for Electromechanical Interfacing
MCE63: Interfacing and Control of Mechatronic Systems Chapter 1: Impedance Analysis for Electromechanical Interfacing Part B: Input and Output Impedance Cleveland State University Mechanical Engineering
More informationH-INFINITY CONTROLLER DESIGN FOR A DC MOTOR MODEL WITH UNCERTAIN PARAMETERS
Engineering MECHANICS, Vol. 18, 211, No. 5/6, p. 271 279 271 H-INFINITY CONTROLLER DESIGN FOR A DC MOTOR MODEL WITH UNCERTAIN PARAMETERS Lukáš Březina*, Tomáš Březina** The proposed article deals with
More informationPossible
Department of Electrical Engineering and Computer Science ENGR 21. Introduction to Circuits and Instruments (4) ENGR 21 SPRING 24 FINAL EXAMINATION given 5/4/3 Possible 1. 1 2. 1 3. 1 4. 1 5. 1 6. 1 7.
More information3 d Calculate the product of the motor constant and the pole flux KΦ in this operating point. 2 e Calculate the torque.
Exam Electrical Machines and Drives (ET4117) 11 November 011 from 14.00 to 17.00. This exam consists of 5 problems on 4 pages. Page 5 can be used to answer problem 4 question b. The number before a question
More informationROBUST CONTROL OF A FLEXIBLE MANIPULATOR ARM: A BENCHMARK PROBLEM. Stig Moberg Jonas Öhr
ROBUST CONTROL OF A FLEXIBLE MANIPULATOR ARM: A BENCHMARK PROBLEM Stig Moberg Jonas Öhr ABB Automation Technologies AB - Robotics, S-721 68 Västerås, Sweden stig.moberg@se.abb.com ABB AB - Corporate Research,
More informationENGG Fundamentals of Electrical Circuits and Machines Final Examination
Name: Lecture Section: ID#: ENGG 225 - Fundamentals of Electrical Circuits and Machines Final Examination Monday, April 22, 2013 Time: 12:00-3:00 PM Red and Gold Gymnasium L01 - Anis Haque L02 - Norm Bartley
More informationA FORCE BALANCE TECHNIQUE FOR MEASUREMENT OF YOUNG'S MODULUS. 1 Introduction
A FORCE BALANCE TECHNIQUE FOR MEASUREMENT OF YOUNG'S MODULUS Abhinav A. Kalamdani Dept. of Instrumentation Engineering, R. V. College of Engineering, Bangalore, India. kalamdani@ieee.org Abstract: A new
More informationWHAT A SINGLE JOINT IS MADE OF RA
Anthropomorphic robotics WHAT A SINGLE JOINT IS MADE OF Notation d F ( mv) mx Since links are physical objects with mass dt J J f i i J = moment of inertia F r F r Moment of inertia Around an axis m3 m1
More informationPRECISION CONTROL OF LINEAR MOTOR DRIVEN HIGH-SPEED/ACCELERATION ELECTRO-MECHANICAL SYSTEMS. Bin Yao
PRECISION CONTROL OF LINEAR MOTOR DRIVEN HIGH-SPEED/ACCELERATION ELECTRO-MECHANICAL SYSTEMS Bin Yao Intelligent and Precision Control Laboratory School of Mechanical Engineering Purdue University West
More informationAdvanced Analog Integrated Circuits. Operational Transconductance Amplifier I & Step Response
Advanced Analog Integrated Circuits Operational Transconductance Amplifier I & Step Response Bernhard E. Boser University of California, Berkeley boser@eecs.berkeley.edu Copyright 2016 by Bernhard Boser
More informationDepartment of Mechanical Engineering
Department of Mechanical Engineering 2.010 CONTROL SYSTEMS PRINCIPLES Laboratory 2: Characterization of the Electro-Mechanical Plant Introduction: It is important (for future lab sessions) that we have
More informationFeedback Control Systems
ME Homework #0 Feedback Control Systems Last Updated November 06 Text problem 67 (Revised Chapter 6 Homework Problems- attached) 65 Chapter 6 Homework Problems 65 Transient Response of a Second Order Model
More informationEE C245 ME C218 Introduction to MEMS Design
EE C45 ME C18 Introduction to MEMS Design Fall 008 Prof. Clark T.-C. Nguyen Dept. of Electrical Engineering & Computer Sciences University of California at Berkeley Berkeley, CA 9470 Lecture 6: Output
More informationExam 3. Feb 12, Problem 1 / 32 Problem 2 / 33 Problem 3 / 32 Total / 100
ROSE-HULMAN Institute of Technology Sophomore Engineering Curriculum ES201 Conservation & Accounting Principles Winter 2014-2015 Section [1 pt]: 01 (1 st period) Name [1 pt] 02 (2 nd period) CM [1 pt]
More informationmeas (1) calc calc I meas 100% (2) Diff I meas
Lab Experiment No. Ohm s Law I. Introduction In this lab exercise, you will learn how to connect the to network elements, how to generate a VI plot, the verification of Ohm s law, and the calculation of
More informationExample: DC Motor Speed Modeling
Page 1 of 5 Example: DC Motor Speed Modeling Physical setup and system equations Design requirements MATLAB representation and open-loop response Physical setup and system equations A common actuator in
More information2.000 Homework # 4: Machine components
Name: Weight: 100 pts Due: Day 10 at beginning of lecture (date differs from original syllabus) You must return your screwdriver in working condition! 1. Screw driver stall torque a). [10] Perform an experiment
More informationSchool of Mechanical Engineering Purdue University. ME375 ElectroMechanical - 1
Electro-Mechanical Systems DC Motors Principles of Operation Modeling (Derivation of fg Governing Equations (EOM)) Block Diagram Representations Using Block Diagrams to Represent Equations in s - Domain
More informationTutorial 1 - Drive fundamentals and DC motor characteristics
University of New South Wales School of Electrical Engineering & elecommunications ELEC4613 ELECRIC DRIVE SYSEMS utorial 1 - Drive fundamentals and DC motor characteristics 1. In the hoist drive system
More informationMathematical Modeling and Dynamic Simulation of a Class of Drive Systems with Permanent Magnet Synchronous Motors
Applied and Computational Mechanics 3 (2009) 331 338 Mathematical Modeling and Dynamic Simulation of a Class of Drive Systems with Permanent Magnet Synchronous Motors M. Mikhov a, a Faculty of Automatics,
More informationDC-motor modelling and parameter identification
DC-motor modelling and parameter identification This version: November 1, 2017 Name: LERTEKNIK REG P-number: Date: AU T O MA RO TI C C O N T L Passed: LINKÖPING Chapter 1 Introduction The purpose of this
More informationElectric Vehicle Performance Power and Efficiency
Electric Vehicle Performance Power and Efficiency 1 Assignment a) Examine measurement guide and electric vehicle (EV) arrangement. b) Drive the route according to teacher s instruction and download measured
More informationOperational Amplifier (Op-Amp) Operational Amplifiers. OP-Amp: Components. Internal Design of LM741
(Op-Amp) s Prof. Dr. M. Zahurul Haq zahurul@me.buet.ac.bd http://teacher.buet.ac.bd/zahurul/ Department of Mechanical Engineering Bangladesh University of Engineering & Technology ME 475: Mechatronics
More informationServo Motors Classification Based on the Accelerating Factor
Servo otors Classification Based on the Accelerating Factor Hermes GIBERTI, Simone CINQUEANI echanical Engineering Department, Politecnico di ilano, Campus Bovisa Sud, via La asa 34, 0156, ilano, Italy
More informationLecture 6: Control Problems and Solutions. CS 344R: Robotics Benjamin Kuipers
Lecture 6: Control Problems and Solutions CS 344R: Robotics Benjamin Kuipers But First, Assignment 1: Followers A follower is a control law where the robot moves forward while keeping some error term small.
More informationEE 410/510: Electromechanical Systems Chapter 4
EE 410/510: Electromechanical Systems Chapter 4 Chapter 4. Direct Current Electric Machines and Motion Devices Permanent Magnet DC Electric Machines Radial Topology Simulation and Experimental Studies
More informationPh.D. Qualifying Exam. Electrical Engineering Part I
Ph.D. Qualifying Exam February 5th, 2015 1:00-5:00pm Electrical Engineering Part I Instructions: This is a closed-book/closed-notes exam module, four hours in duration. There are ten (10) problems in this
More informationExam. 135 minutes + 15 minutes reading time
Exam January 23, 27 Control Systems I (5-59-L) Prof. Emilio Frazzoli Exam Exam Duration: 35 minutes + 5 minutes reading time Number of Problems: 45 Number of Points: 53 Permitted aids: Important: 4 pages
More informationStudio 9 Review Operational Amplifier Stability Compensation Miller Effect Phase Margin Unity Gain Frequency Slew Rate Limiting Reading: Text sec 5.
Studio 9 Review Operational Amplifier Stability Compensation Miller Effect Phase Margin Unity Gain Frequency Slew Rate Limiting Reading: Text sec 5.2 pp. 232-242 Two-stage op-amp Analysis Strategy Recognize
More informationSRV02-Series Rotary Experiment # 1. Position Control. Student Handout
SRV02-Series Rotary Experiment # 1 Position Control Student Handout SRV02-Series Rotary Experiment # 1 Position Control Student Handout 1. Objectives The objective in this experiment is to introduce the
More informationExample: Modeling DC Motor Position Physical Setup System Equations Design Requirements MATLAB Representation and Open-Loop Response
Page 1 of 5 Example: Modeling DC Motor Position Physical Setup System Equations Design Requirements MATLAB Representation and Open-Loop Response Physical Setup A common actuator in control systems is the
More informationIMPORTANT Read these directions carefully:
Physics 208: Electricity and Magnetism Common Exam 2, October 17 th 2016 Print your name neatly: First name: Last name: Sign your name: Please fill in your Student ID number (UIN): _ - - Your classroom
More information