ELECTRIC VELOCITY SERVO REGULATION
|
|
|
- Allen Baldwin
- 5 years ago
- Views:
Transcription
1 ELECIC VELOCIY SEVO EGULAION Gorg W. Younkin, P.E. Lif FELLOW IEEE Indusril Conrols Consuling, Di. Bulls Ey Mrking, Inc. Fond du Lc, Wisconsin h prformnc of n lcricl lociy sro is msur of how wll h sro dri will minin is commndd lociy undr rying lod disurbncs. h biliy o minin lociy undr lod chngs is prssd s h rgulion of h sro dri usully prssd s prcn rgulion. A ypicl lcric sro dri wih currn loop for orqu rgulion is shown in h block digrm of figur. Sinc h wo sro loops r inrcing, block digrm lgbr is usd o rrrng h block digrm ino wo indpndn sro loops s shown in figur. h rrrngd block digrm of h moor nd currn loop will hn b includd ino lociy fdbck sro loop shown in figur 3. h moor nd currn sro loop hs PI compnsion. h rnl lociy sro loop is shown wih lg/ld compnsion bu could jus s wll lso b PI compnsion. Mos commrcil lcric sros lso h n ddd posiion sro loop, which cn incrs h lociy rgulion o ry lrg n. his discussion is limid o n lcricl lociy sro, which cn b dc
2 sro dri or brushlss dc (BLDC sro dri. Spd rgulion wih n ddd posiion sro loop is h subjc of nohr discussion. o discuss h rgulion of lociy sro dri, h block digrm of figur 3 is rrrngd in figur 4 o show moor lociy (V o s funcion of orqu lod ( l chngs. h innr currn sro loop of figur 3 is prssd s q.. For h sdy s condiion h currn sro loop is gin s q.. i i ( s l ( bs ( s ( s i3 r q. ( i i s 0 i q ( h rnl lociy sro loop is gin in q (3 wih h sdy s condiion s q (4. V o r ( s q (3 ( bs l [ bs ( r s ( s i ] J s ( s ( s
3 V o r s 0 q (4 A rdily ilbl prmr of commrcil sro dris is shown s h opn loop gin ( o of h lociy sro. Equion (5 is h opn lociy sro loop gin ( o wih h sdy s soluion in q (6. o ( s ( s A q (5 l ( bs ( s [( bs ( s i( s ]J s ( s ( s A A o q (6 h dri rgulion cn b compud from figur 4 wih q (7 nd q (8 for h sdy s soluion. ( s ( bs ( s A( s ( s J s [ ] L ( s s [( s ( s ( s ] b i q (7 q (8 s 0 A i Equion 8 is rrrngd s gin in q 9. h opn loop sro gin of q (6 is rrrngd in q(0. Subsiuing q (0 ino q (9 rsuls in q (, which is simplifid in q (. s 0 i [ A ] i A q (9 A o q (0 o i q ( 3
4 i (Spd rgulion quion q ( ( o Dimnsionl Anlysis I is imporn o know h unis of h prmrs in q. ( for boh dc nd BLDC lcric sros. h uni dimnsions r shown s follows: DC DIVES BLDC DIVES ( l l (Armur rsisnc [ohms] [ ohms] ols sc (lg consn [ ] rd ( l l 3 ols sc [ ] rd orqu consn lb in rd lb rd in o (Opn loop gin ol ol ol ol Dimnsionl nlysis of q V o ohms lb in r / s rd / sc [ ] lb in 4
5 EXAMPLE Moor ollmorgn M607B ( l l 0.89 [ ohm] [ ohm] ( l l ol sc rd d orqu 396[lb-in] lb in 9. 9 A d Spd 3000[rpm] i Currn loop fdbck consn 3 40A A 0 A ol sc rd ol 65 ol o ( lociy opn loop gin A ol ol EGULAION ( i o ( ol lb in Spd drop rd orqu nd rd spd- Spd drop rd / sc lb in rd sc [ lb in] 0.7 5
6 rd r 60sc sc rd min π [ rpm] Chngin spd EGULAION d spd [ rpm] [ rpm] Vlociy sro % EGULAION % If posiion loop is ddd o h lociy sro dri h block digrm is shown in figur (5. h posiion loop lociy consn ( is h posiion opn loop gin. 6
7 D D ( A q (3 ducing q (3 yilds D ( A q (4 rrnging q (6 yilds q (5 o A Subsiuing q (5 ino q (4 yilds D q (6 ( ( o o rrnging yilds D ( o q (7 From figur 6, h posiion ( s orqu ( is prssd s- D i (sdy s complinc q (8 D i (sdy s siffnss q (9 Subsiuing q (7 ino q (9 yilds ( o i q (0 ( o i ( q ( Figur 5 is h posiion sro block digrm. h inpu commnd nd h oupu o r in rdins. Howr if h inpu commnd is gin posiion or priod of im; h is lociy, nd h oupu posiion follows h commnd wih lg nd his lg is 7
8 dfind s h following rror in yp posiion sro. hrfor, if h inpu commnd nd h oupu is diffrnid ( s, h dri will b in lociy mod prssd s- o s ( o i rd / sc [ ] lb in q ( Dimnsionl chck of q ( sc[ ohms sc EXAMPLE rd sc A lb in ] A rd lb / sc in Using h sm moor s in h prious mpl wih h sm orqu nd lociy innr sro loop, h nw ribl is h posiion opn loop gin (lociy consn. hus h ribls r rpd s [ohms] [ol-sc/rd] d orqu 396 [lb-in] 9.9 [lb-in/mp] d spd 3000[rpm] i 0.075[ol/mp] i 0 [/] A 0.086[ol-sc/rd] 65[ol/ol] o 000[ol/ol] h posiion loop gin will b [ipm/mill] 6.66 [rd/sc] h rgulion of qurion ( cn b clculd s- V ( o i ( o Spd drop rd orqu nd rd spd- Spd drop rd sc rd r 60 sc sc rd min π rd sc [ lb in] 0.00 [ rpm]
9 [ rpm] chngin spd EGULAION rd spd 3000 rpm Posiion sro in lociy mod % EGULAION % frnc: G. Younkin, INDUSIAL SEVO CONOL SYSEMS-Fundmnls nd Applicions, nd Ediion, Chpr, 00, Mrcl Dkkr, Inc, N.Y.,N.Y. 9
3.4 Repeated Roots; Reduction of Order
3.4 Rpd Roos; Rducion of Ordr Rcll our nd ordr linr homognous ODE b c 0 whr, b nd c r consns. Assuming n xponnil soluion lds o chrcrisic quion: r r br c 0 Qudric formul or fcoring ilds wo soluions, r &
Fourier Series and Parseval s Relation Çağatay Candan Dec. 22, 2013
Fourir Sris nd Prsvl s Rlion Çğy Cndn Dc., 3 W sudy h m problm EE 3 M, Fll3- in som dil o illusr som conncions bwn Fourir sris, Prsvl s rlion nd RMS vlus. Q. ps h signl sin is h inpu o hlf-wv rcifir circui
Revisiting what you have learned in Advanced Mathematical Analysis
Fourir sris Rvisiing wh you hv lrnd in Advncd Mhmicl Anlysis L f x b priodic funcion of priod nd is ingrbl ovr priod. f x cn b rprsnd by rigonomric sris, f x n cos nx bn sin nx n cos x b sin x cosx b whr
Control Systems. Modelling Physical Systems. Assoc.Prof. Haluk Görgün. Gears DC Motors. Lecture #5. Control Systems. 10 March 2013
Lcur #5 Conrol Sy Modlling Phyicl Sy Gr DC Moor Aoc.Prof. Hluk Görgün 0 Mrch 03 Conrol Sy Aoc. Prof. Hluk Görgün rnfr Funcion for Sy wih Gr Gr provid chnicl dvng o roionl y. Anyon who h riddn 0-pd bicycl
PHYSICS 1210 Exam 1 University of Wyoming 14 February points
PHYSICS 1210 Em 1 Uniersiy of Wyoming 14 Februry 2013 150 poins This es is open-noe nd closed-book. Clculors re permied bu compuers re no. No collborion, consulion, or communicion wih oher people (oher
Control System Engineering (EE301T) Assignment: 2
Conrol Sysm Enginring (EE0T) Assignmn: PART-A (Tim Domain Analysis: Transin Rspons Analysis). Oain h rspons of a uniy fdack sysm whos opn-loop ransfr funcion is (s) s ( s 4) for a uni sp inpu and also
A 1.3 m 2.5 m 2.8 m. x = m m = 8400 m. y = 4900 m 3200 m = 1700 m
PHYS : Soluions o Chper 3 Home Work. SSM REASONING The displcemen is ecor drwn from he iniil posiion o he finl posiion. The mgniude of he displcemen is he shores disnce beween he posiions. Noe h i is onl
Engine Thrust. From momentum conservation
Airbrhing Propulsion -1 Airbrhing School o Arospc Enginring Propulsion Ovrviw w will b xmining numbr o irbrhing propulsion sysms rmjs, urbojs, urbons, urboprops Prormnc prmrs o compr hm, usul o din som
Average & instantaneous velocity and acceleration Motion with constant acceleration
Physics 7: Lecure Reminders Discussion nd Lb secions sr meeing ne week Fill ou Pink dd/drop form if you need o swich o differen secion h is FULL. Do i TODAY. Homework Ch. : 5, 7,, 3,, nd 6 Ch.: 6,, 3 Submission
4.5 Constant Acceleration
4.5 Consan Acceleraion v() v() = v 0 + a a() a a() = a v 0 Area = a (a) (b) Figure 4.8 Consan acceleraion: (a) velociy, (b) acceleraion When he x -componen of he velociy is a linear funcion (Figure 4.8(a)),
CURRENT LOOPS George W. Younkin, P.E. Life Fellow IEEE Industrial Controls Research, Inc. Fond du Lac, Wisconsin
CURRENT LOOPS George W. Younkin, P.E. Life Fellow IEEE Industrial Controls Research, Inc. Fond du Lac, Wisconsin All industrial servo drives require some form of compensation often referred to as proportional,
Chapter 4 Circular and Curvilinear Motions
Chp 4 Cicul n Cuilin Moions H w consi picls moing no long sigh lin h cuilin moion. W fis su h cicul moion, spcil cs of cuilin moion. Anoh mpl w h l sui li is h pojcil..1 Cicul Moion Unifom Cicul Moion
Motion. Part 2: Constant Acceleration. Acceleration. October Lab Physics. Ms. Levine 1. Acceleration. Acceleration. Units for Acceleration.
Moion Accelerion Pr : Consn Accelerion Accelerion Accelerion Accelerion is he re of chnge of velociy. = v - vo = Δv Δ ccelerion = = v - vo chnge of velociy elpsed ime Accelerion is vecor, lhough in one-dimensionl
Supporting Online Materials for
Suppoing Onlin Mils o Flxibl Schbl nspn Mgn- Cbon Nnoub hin Film Loudspks Lin Xio*, Zhuo Chn*, Chn Fng, Ling Liu, Zi-Qio Bi, Yng Wng, Li Qin, Yuying Zhng, Qunqing Li, Kili Jing**, nd Shoushn Fn** Dpmn
0 for t < 0 1 for t > 0
8.0 Sep nd del funcions Auhor: Jeremy Orloff The uni Sep Funcion We define he uni sep funcion by u() = 0 for < 0 for > 0 I is clled he uni sep funcion becuse i kes uni sep = 0. I is someimes clled he Heviside
A Simple Method for Determining the Manoeuvring Indices K and T from Zigzag Trial Data
Rind 8-- Wbsi: wwwshimoionsnl Ro 67, Jun 97, Dlf Univsiy of chnoloy, Shi Hydomchnics Lbooy, Mklw, 68 CD Dlf, h Nhlnds A Siml Mhod fo Dminin h Mnouvin Indics K nd fom Ziz il D JMJ Jouné Dlf Univsiy of chnoloy
Math 266, Practice Midterm Exam 2
Mh 66, Prcic Midrm Exm Nm: Ground Rul. Clculor i NOT llowd.. Show your work for vry problm unl ohrwi d (pril crdi r vilbl). 3. You my u on 4-by-6 indx crd, boh id. 4. Th bl of Lplc rnform i vilbl h l pg.
UNSTEADY HEAT TRANSFER
UNSADY HA RANSFR Mny h rnsfr problms rquir h undrsnding of h ompl im hisory of h mprur vriion. For mpl, in mllurgy, h h ring pross n b onrolld o dirly ff h hrrisis of h prossd mrils. Annling (slo ool)
REPETITION before the exam PART 2, Transform Methods. Laplace transforms: τ dτ. L1. Derive the formulas : L2. Find the Laplace transform F(s) if.
Tranform Mhod and Calculu of Svral Variabl H7, p Lcurr: Armin Halilovic KTH, Campu Haning E-mail: armin@dkh, wwwdkh/armin REPETITION bfor h am PART, Tranform Mhod Laplac ranform: L Driv h formula : a L[
Some Basic Information about M-S-D Systems
Some Basic Informaion abou M-S-D Sysems 1 Inroducion We wan o give some summary of he facs concerning unforced (homogeneous) and forced (non-homogeneous) models for linear oscillaors governed by second-order,
Fourier. Continuous time. Review. with period T, x t. Inverse Fourier F Transform. x t. Transform. j t
Coninuous im ourir rnsform Rviw. or coninuous-im priodic signl x h ourir sris rprsnion is x x j, j 2 d wih priod, ourir rnsform Wh bou priodic signls? W willl considr n priodic signl s priodic signl wih
Forms of Energy. Mass = Energy. Page 1. SPH4U: Introduction to Work. Work & Energy. Particle Physics:
SPH4U: Inroducion o ork ork & Energy ork & Energy Discussion Definiion Do Produc ork of consn force ork/kineic energy heore ork of uliple consn forces Coens One of he os iporn conceps in physics Alernive
Laplace Transform. National Chiao Tung University Chun-Jen Tsai 10/19/2011
plc Trnorm Nionl Chio Tung Univriy Chun-Jn Ti /9/ Trnorm o Funcion Som opror rnorm uncion ino nohr uncion: d Dirniion: x x, or Dx x dx x Indini Ingrion: x dx c Dini Ingrion: x dx 9 A uncion my hv nicr
Digital Signal Processing. Digital Signal Processing READING ASSIGNMENTS. License Info for SPFirst Slides. Fourier Transform LECTURE OBJECTIVES
Digil Signl Procssing Digil Signl Procssing Prof. Nizmin AYDIN nydin@yildiz.du.r hp:www.yildiz.du.r~nydin Lcur Fourir rnsform Propris Licns Info for SPFirs Slids READING ASSIGNMENS his work rlsd undr Criv
A Kalman filtering simulation
A Klmn filering simulion The performnce of Klmn filering hs been esed on he bsis of wo differen dynmicl models, ssuming eiher moion wih consn elociy or wih consn ccelerion. The former is epeced o beer
f t f a f x dx By Lin McMullin f x dx= f b f a. 2
Accumulion: Thoughs On () By Lin McMullin f f f d = + The gols of he AP* Clculus progrm include he semen, Sudens should undersnd he definie inegrl s he ne ccumulion of chnge. 1 The Topicl Ouline includes
General Article Application of differential equation in L-R and C-R circuit analysis by classical method. Abstract
Applicaion of Diffrnial... Gnral Aricl Applicaion of diffrnial uaion in - and C- circui analysis by classical mhod. ajndra Prasad gmi curr, Dparmn of Mahmaics, P.N. Campus, Pokhara Email: rajndraprasadrgmi@yahoo.com
Lecture 2: Current in RC circuit D.K.Pandey
Lcur 2: urrn in circui harging of apacior hrough Rsisr L us considr a capacior of capacianc is conncd o a D sourc of.m.f. E hrough a rsisr of rsisanc R and a ky K in sris. Whn h ky K is swichd on, h charging
On the Derivatives of Bessel and Modified Bessel Functions with Respect to the Order and the Argument
Inrnaional Rsarch Journal of Applid Basic Scincs 03 Aailabl onlin a wwwirjabscom ISSN 5-838X / Vol 4 (): 47-433 Scinc Eplorr Publicaions On h Driais of Bssl Modifid Bssl Funcions wih Rspc o h Ordr h Argumn
Chapter 2. Motion along a straight line. 9/9/2015 Physics 218
Chper Moion long srigh line 9/9/05 Physics 8 Gols for Chper How o describe srigh line moion in erms of displcemen nd erge elociy. The mening of insnneous elociy nd speed. Aerge elociy/insnneous elociy
Announcements: Warm-up Exercise:
Fri Apr 13 7.1 Sysems of differenial equaions - o model muli-componen sysems via comparmenal analysis hp//en.wikipedia.org/wiki/muli-comparmen_model Announcemens Warm-up Exercise Here's a relaively simple
H is equal to the surface current J S
Chapr 6 Rflcion and Transmission of Wavs 6.1 Boundary Condiions A h boundary of wo diffrn mdium, lcromagnic fild hav o saisfy physical condiion, which is drmind by Maxwll s quaion. This is h boundary condiion
Dynamic Effects of Feedback Control!
Dynamic Effecs of Feedback Conrol! Rober Sengel! Roboics and Inelligen Sysems MAE 345, Princeon Universiy, 2017 Inner, Middle, and Ouer Feedback Conrol Loops Sep Response of Linear, Time- Invarian (LTI)
(b) 10 yr. (b) 13 m. 1.6 m s, m s m s (c) 13.1 s. 32. (a) 20.0 s (b) No, the minimum distance to stop = 1.00 km. 1.
Answers o Een Numbered Problems Chper. () 7 m s, 6 m s (b) 8 5 yr 4.. m ih 6. () 5. m s (b).5 m s (c).5 m s (d) 3.33 m s (e) 8. ().3 min (b) 64 mi..3 h. ().3 s (b) 3 m 4..8 mi wes of he flgpole 6. (b)
Derivation of the differential equation of motion
Divion of h iffnil quion of oion Fis h noions fin h will us fo h ivion of h iffnil quion of oion. Rollo is hough o -insionl isk. xnl ius of h ll isnc cn of ll (O) - IDU s cn of gviy (M) θ ngl of inclinion
e t dt e t dt = lim e t dt T (1 e T ) = 1
Improper Inegrls There re wo ypes of improper inegrls - hose wih infinie limis of inegrion, nd hose wih inegrnds h pproch some poin wihin he limis of inegrion. Firs we will consider inegrls wih infinie
Advanced Electromechanical Systems (ELE 847)
(ELE 847) Dr. Smr ouro-rener Topc 1.4: DC moor speed conrol Torono, 2009 Moor Speed Conrol (open loop conrol) Consder he followng crcu dgrm n V n V bn T1 T 5 T3 V dc r L AA e r f L FF f o V f V cn T 4
Chapter 7: Solving Trig Equations
Haberman MTH Secion I: The Trigonomeric Funcions Chaper 7: Solving Trig Equaions Le s sar by solving a couple of equaions ha involve he sine funcion EXAMPLE a: Solve he equaion sin( ) The inverse funcions
On the Speed of Heat Wave. Mihály Makai
On h Spd of Ha Wa Mihály Maai maai@ra.bm.hu Conns Formulaion of h problm: infini spd? Local hrmal qulibrium (LTE hypohsis Balanc quaion Phnomnological balanc Spd of ha wa Applicaion in plasma ranspor 1.
Math Week 14 April 16-20: sections first order systems of linear differential equations; 7.4 mass-spring systems.
Mah 2250-004 Week 4 April 6-20 secions 7.-7.3 firs order sysems of linear differenial equaions; 7.4 mass-spring sysems. Mon Apr 6 7.-7.2 Sysems of differenial equaions (7.), and he vecor Calculus we need
2D Motion WS. A horizontally launched projectile s initial vertical velocity is zero. Solve the following problems with this information.
Nme D Moion WS The equions of moion h rele o projeciles were discussed in he Projecile Moion Anlsis Acii. ou found h projecile moes wih consn eloci in he horizonl direcion nd consn ccelerion in he ericl
I. Define the Situation
I. efine he Siuaion This exam explores he relaionship beween he applied volage o a permanen magne C moond he linear velociy (speed) of he elecric vehicle (EV) he moor drives. The moor oupu is fed ino a
d 1 = c 1 b 2 - b 1 c 2 d 2 = c 1 b 3 - b 1 c 3
and d = c b - b c c d = c b - b c c This process is coninued unil he nh row has been compleed. The complee array of coefficiens is riangular. Noe ha in developing he array an enire row may be divided or
Electrical Circuits. 1. Circuit Laws. Tools Used in Lab 13 Series Circuits Damped Vibrations: Energy Van der Pol Circuit
V() R L C 513 Elecrical Circuis Tools Used in Lab 13 Series Circuis Damped Vibraions: Energy Van der Pol Circui A series circui wih an inducor, resisor, and capacior can be represened by Lq + Rq + 1, a
READING ASSIGNMENTS. Signal Processing First. Fourier Transform LECTURE OBJECTIVES. This Lecture: Lecture 23 Fourier Transform Properties
Signl Procssing Firs Lcur 3 Fourir rnsform Propris READING ASSIGNMENS his Lcur: Chpr, Scs. -5 o -9 ls in Scion -9 Ohr Rding: Rciion: Chpr, Scs. - o -9 N Lcurs: Chpr Applicions 3/7/4 3, JH McCllln & RW
Lecture -14: Chopper fed DC Drives
Lecure -14: Chopper fed DC Drives Chopper fed DC drives o A chopper is a saic device ha convers fixed DC inpu volage o a variable dc oupu volage direcly o A chopper is a high speed on/off semiconducor
EECS20n, Solution to Midterm 2, 11/17/00
EECS20n, Soluion o Miderm 2, /7/00. 0 poins Wrie he following in Caresian coordinaes (i.e. in he form x + jy) (a) 2 poins j 3 j 2 + j += j ++j +=2 (b) 2 poins ( j)/( + j) = j (c) 2 poins cos π/4+jsin π/4
Equations and Boundary Value Problems
Elmn Diffnil Equions nd Bound Vlu Poblms Bo. & DiPim, 9 h Ediion Chp : Sond Od Diffnil Equions 6 คณ ตศาสตร ว ศวกรรม สาขาว ชาว ศวกรรมคอมพ วเตอร ป การศ กษา /555 ผศ.ดร.อร ญญา ผศ.ดร.สมศ กด วล ยร ชต Topis Homognous
Vidyalankar. 1. (a) Y = a cos dy d = a 3 cos2 ( sin ) x = a sin dx d = a 3 sin2 cos slope = dy dx. dx = y. cos. sin. 3a sin cos = cot at = 4 = 1
. (). (b) Vilnkr S.Y. Diplom : Sem. III [AE/CE/CH/CM/CO/CR/CS/CW/DE/EE/EP/IF/EJ/EN/ET/EV/EX/IC/IE/IS/ ME/MU/PG/PT/PS/CD/CV/ED/EI/FE/IU/MH/MI] Applied Mhemics Prelim Quesion Pper Soluion Y cos d cos ( sin
EE 434 Lecture 22. Bipolar Device Models
EE 434 Lcur 22 Bipolar Dvic Modls Quiz 14 Th collcor currn of a BJT was masurd o b 20mA and h bas currn masurd o b 0.1mA. Wha is h fficincy of injcion of lcrons coming from h mir o h collcor? 1 And h numbr
Module 4: Time Response of discrete time systems Lecture Note 2
Module 4: Time Response of discree ime sysems Lecure Noe 2 1 Prooype second order sysem The sudy of a second order sysem is imporan because many higher order sysem can be approimaed by a second order model
Wave Equation (2 Week)
Rfrnc Wav quaion ( Wk 6.5 Tim-armonic filds 7. Ovrviw 7. Plan Wavs in Losslss Mdia 7.3 Plan Wavs in Loss Mdia 7.5 Flow of lcromagnic Powr and h Poning Vcor 7.6 Normal Incidnc of Plan Wavs a Plan Boundaris
Review: What s an FSM? EECS Components and Design Techniques for Digital Systems
EECS 5 - Componn nd Dign Tchniqu for Digil Sym Lc 8 Uing, Modling nd Implmning FSM 9-23-4 Dvid Cullr Elcricl Enginring nd Compur Scinc Univriy of Cliforni, Brkly hp://www.c.brkly.du/~cullr hp://www-in.c.brkly.du/~c5
F (u) du. or f(t) = t
8.3 Topic 9: Impulses and dela funcions. Auor: Jeremy Orloff Reading: EP 4.6 SN CG.3-4 pp.2-5. Warmup discussion abou inpu Consider e rae equaion d + k = f(). To be specific, assume is in unis of d kilograms.
where: u: input y: output x: state vector A, B, C, D are const matrices
Sa pac modl: linar: y or in om : Sa q : f, u Oupu q : y h, u u Du F Gu y H Ju whr: u: inpu y: oupu : a vcor,,, D ar con maric Eampl " $ & ' " $ & 'u y " & * * * * [ ],, D H D I " $ " & $ ' " & $ ' " &
RESPONSE UNDER A GENERAL PERIODIC FORCE. When the external force F(t) is periodic with periodτ = 2π
RESPONSE UNDER A GENERAL PERIODIC FORCE When he exernl force F() is periodic wih periodτ / ω,i cn be expnded in Fourier series F( ) o α ω α b ω () where τ F( ) ω d, τ,,,... () nd b τ F( ) ω d, τ,,... (3)
Inverse Fourier Transform. Properties of Continuous time Fourier Transform. Review. Linearity. Reading Assignment Oppenheim Sec pp.289.
Convrgnc of ourir Trnsform Rding Assignmn Oppnhim Sc 42 pp289 Propris of Coninuous im ourir Trnsform Rviw Rviw or coninuous-im priodic signl x, j x j d Invrs ourir Trnsform 2 j j x d ourir Trnsform Linriy
Lecture 1: Growth and decay of current in RL circuit. Growth of current in LR Circuit. D.K.Pandey
cur : Growh and dcay of currn in circui Growh of currn in Circui us considr an inducor of slf inducanc is conncd o a DC sourc of.m.f. E hrough a rsisr of rsisanc and a ky K in sris. Whn h ky K is swichd
Ch.1. Group Work Units. Continuum Mechanics Course (MMC) - ETSECCPB - UPC
Ch.. Group Work Unis Coninuum Mechanics Course (MMC) - ETSECCPB - UPC Uni 2 Jusify wheher he following saemens are rue or false: a) Two sreamlines, corresponding o a same insan of ime, can never inersec
555 Timer. Digital Electronics
555 Timer Digial Elecronics This presenaion will Inroduce he 555 Timer. 555 Timer Derive he characerisic equaions for he charging and discharging of a capacior. Presen he equaions for period, frequency,
Lecture 1 Overview. course mechanics. outline & topics. what is a linear dynamical system? why study linear systems? some examples
EE263 Auumn 27-8 Sephen Boyd Lecure 1 Overview course mechanics ouline & opics wha is a linear dynamical sysem? why sudy linear sysems? some examples 1 1 Course mechanics all class info, lecures, homeworks,
The model proposed by Vasicek in 1977 is a yield-based one-factor equilibrium model given by the dynamic
h Vsick modl h modl roosd by Vsick in 977 is yild-bsd on-fcor quilibrium modl givn by h dynmic dr = b r d + dw his modl ssums h h shor r is norml nd hs so-clld "mn rvring rocss" (undr Q. If w u r = b/,
6. Gas dynamics. Ideal gases Speed of infinitesimal disturbances in still gas
6. Gs dynmics Dr. Gergely Krisóf De. of Fluid echnics, BE Februry, 009. Seed of infiniesiml disurbnces in sill gs dv d, dv d, Coninuiy: ( dv)( ) dv omenum r r heorem: ( ( dv) ) d 3443 4 q m dv d dv llievi
3.1.3 INTRODUCTION TO DYNAMIC OPTIMIZATION: DISCRETE TIME PROBLEMS. A. The Hamiltonian and First-Order Conditions in a Finite Time Horizon
3..3 INRODUCION O DYNAMIC OPIMIZAION: DISCREE IME PROBLEMS A. he Hamilonian and Firs-Order Condiions in a Finie ime Horizon Define a new funcion, he Hamilonian funcion, H. H he change in he oal value of
15. Vector Valued Functions
1. Vecor Valued Funcions Up o his poin, we have presened vecors wih consan componens, for example, 1, and,,4. However, we can allow he componens of a vecor o be funcions of a common variable. For example,
4.6 One Dimensional Kinematics and Integration
4.6 One Dimensional Kinemaics and Inegraion When he acceleraion a( of an objec is a non-consan funcion of ime, we would like o deermine he ime dependence of he posiion funcion x( and he x -componen of
PHA Second Exam. Fall 2007
PHA 527 Scond Exm Fll 2007 On my honor, I hv nihr givn nor rcivd unuhorizd id in doing his ssignmn. Nm Pu ll nswrs on h bubbl sh OAL /30 ps Qusion S I (ru or Fls) (5 poins) ru (A) or Fls (B). On h bubbl
1. Consider a PSA initially at rest in the beginning of the left-hand end of a long ISS corridor. Assume xo = 0 on the left end of the ISS corridor.
In Eercise 1, use sndrd recngulr Cresin coordine sysem. Le ime be represened long he horizonl is. Assume ll ccelerions nd decelerions re consn. 1. Consider PSA iniilly res in he beginning of he lef-hnd
Section 2: The Z-Transform
Scion : h -rnsform Digil Conrol Scion : h -rnsform In linr discr-im conrol sysm linr diffrnc quion chrcriss h dynmics of h sysm. In ordr o drmin h sysm s rspons o givn inpu, such diffrnc quion mus b solvd.
ENV 6015 Solution to Mixing Problem Set
EN 65 Soluion o ixing Problem Se. A slug of dye ( ) is injeced ino a single ank wih coninuous mixing. The flow in and ou of he ank is.5 gpm. The ank volume is 5 gallons. When will he dye concenraion equal
DEPARTMENT OF ELECTRICAL AND ELECTRONIC ENGINEERING EXAMINATIONS 2008
[E5] IMPERIAL COLLEGE LONDON DEPARTMENT OF ELECTRICAL AND ELECTRONIC ENGINEERING EXAMINATIONS 008 EEE/ISE PART II MEng BEng and ACGI SIGNALS AND LINEAR SYSTEMS Time allowed: :00 hours There are FOUR quesions
Lecture 13 RC/RL Circuits, Time Dependent Op Amp Circuits
Lecure 13 RC/RL Circuis, Time Dependen Op Amp Circuis RL Circuis The seps involved in solving simple circuis conaining dc sources, resisances, and one energy-sorage elemen (inducance or capaciance) are:
ME 141. Engineering Mechanics
ME 141 Engineeing Mechnics Lecue 13: Kinemics of igid bodies hmd Shhedi Shkil Lecue, ep. of Mechnicl Engg, UET E-mil: sshkil@me.bue.c.bd, shkil6791@gmil.com Websie: eche.bue.c.bd/sshkil Couesy: Veco Mechnics
ME 391 Mechanical Engineering Analysis
Fall 04 ME 39 Mechanical Engineering Analsis Eam # Soluions Direcions: Open noes (including course web posings). No books, compuers, or phones. An calculaor is fair game. Problem Deermine he posiion of
Timer 555. Digital Electronics
Timer 555 Digial Elecronics This presenaion will Inroduce he 555 Timer. 555 Timer Derive he characerisic equaions for he charging and discharging of a capacior. Presen he equaions for period, frequency,
a dt a dt a dt dt If 1, then the poles in the transfer function are complex conjugates. Let s look at f t H t f s / s. So, for a 2 nd order system:
Undrdamd Sysms Undrdamd Sysms nd Ordr Sysms Ouu modld wih a nd ordr ODE: d y dy a a1 a0 y b f If a 0 0, hn: whr: a d y a1 dy b d y dy y f y f a a a 0 0 0 is h naural riod of oscillaion. is h daming facor.
PHA Second Exam. Fall On my honor, I have neither given nor received unauthorized aid in doing this assignment.
UFI: PHA 527 Scond Exm Fll 2006 On my honor, I hv nihr givn nor rcivd unuhorizd id in doing his ssignmn. Nm Pu ll nswrs on h bubbl sh OAL /60 ps UFI: Qusion S I (ru or Fls) (25 poins) ru (A) or Fls (B).
dt = C exp (3 ln t 4 ). t 4 W = C exp ( ln(4 t) 3) = C(4 t) 3.
Mah Rahman Exam Review Soluions () Consider he IVP: ( 4)y 3y + 4y = ; y(3) = 0, y (3) =. (a) Please deermine he longes inerval for which he IVP is guaraneed o have a unique soluion. Soluion: The disconinuiies
() t. () t r () t or v. ( t) () () ( ) = ( ) or ( ) () () () t or dv () () Section 10.4 Motion in Space: Velocity and Acceleration
Secion 1.4 Moion in Spce: Velociy nd Acceleion We e going o dive lile deepe ino somehing we ve ledy inoduced, nmely () nd (). Discuss wih you neighbo he elionships beween posiion, velociy nd cceleion you
can be viewed as a generalized product, and one for which the product of f and g. That is, does
Boyce/DiPrim 9 h e, Ch 6.6: The Convoluion Inegrl Elemenry Differenil Equion n Bounry Vlue Problem, 9 h eiion, by Willim E. Boyce n Richr C. DiPrim, 9 by John Wiley & Son, Inc. Someime i i poible o wrie
Answers to 1 Homework
Answers o Homework. x + and y x 5 y To eliminae he parameer, solve for x. Subsiue ino y s equaion o ge y x.. x and y, x y x To eliminae he parameer, solve for. Subsiue ino y s equaion o ge x y, x. (Noe:
Single Correct Type. cos z + k, then the value of k equals. dx = 2 dz. (a) 1 (b) 0 (c)1 (d) 2 (code-v2t3paq10) l (c) ( l ) x.
IIT JEE/AIEEE MATHS y SUHAAG SIR Bhopl, Ph. (755)3 www.kolsss.om Qusion. & Soluion. In. Cl. Pg: of 6 TOPIC = INTEGRAL CALCULUS Singl Corr Typ 3 3 3 Qu.. L f () = sin + sin + + sin + hn h primiiv of f()
5. Response of Linear Time-Invariant Systems to Random Inputs
Sysem: 5. Response of inear ime-invarian Sysems o Random Inpus 5.. Discree-ime linear ime-invarian (IV) sysems 5... Discree-ime IV sysem IV sysem xn ( ) yn ( ) [ xn ( )] Inpu Signal Sysem S Oupu Signal
( ) = Q 0. ( ) R = R dq. ( t) = I t
ircuis onceps The addiion of a simple capacior o a circui of resisors allows wo relaed phenomena o occur The observaion ha he ime-dependence of a complex waveform is alered by he circui is referred o as
1 Finite Automata and Regular Expressions
1 Fini Auom nd Rgulr Exprion Moivion: Givn prn (rgulr xprion) for ring rching, w migh wn o convr i ino drminiic fini uomon or nondrminiic fini uomon o mk ring rching mor fficin; drminiic uomon only h o
Chapter Direct Method of Interpolation
Chper 5. Direc Mehod of Inerpolion Afer reding his chper, you should be ble o:. pply he direc mehod of inerpolion,. sole problems using he direc mehod of inerpolion, nd. use he direc mehod inerpolns o
Physics 2A HW #3 Solutions
Chper 3 Focus on Conceps: 3, 4, 6, 9 Problems: 9, 9, 3, 41, 66, 7, 75, 77 Phsics A HW #3 Soluions Focus On Conceps 3-3 (c) The ccelerion due o grvi is he sme for boh blls, despie he fc h he hve differen
September 20 Homework Solutions
College of Engineering nd Compuer Science Mechnicl Engineering Deprmen Mechnicl Engineering A Seminr in Engineering Anlysis Fll 7 Number 66 Insrucor: Lrry Creo Sepember Homework Soluions Find he specrum
Week 1 Lecture 2 Problems 2, 5. What if something oscillates with no obvious spring? What is ω? (problem set problem)
Week 1 Lecure Problems, 5 Wha if somehing oscillaes wih no obvious spring? Wha is ω? (problem se problem) Sar wih Try and ge o SHM form E. Full beer can in lake, oscillaing F = m & = ge rearrange: F =
RC, RL and RLC circuits
Name Dae Time o Complee h m Parner Course/ Secion / Grade RC, RL and RLC circuis Inroducion In his experimen we will invesigae he behavior of circuis conaining combinaions of resisors, capaciors, and inducors.
ENGR 1990 Engineering Mathematics The Integral of a Function as a Function
ENGR 1990 Engineering Mhemics The Inegrl of Funcion s Funcion Previously, we lerned how o esime he inegrl of funcion f( ) over some inervl y dding he res of finie se of rpezoids h represen he re under
where the coordinate X (t) describes the system motion. X has its origin at the system static equilibrium position (SEP).
Appendix A: Conservaion of Mechanical Energy = Conservaion of Linear Momenum Consider he moion of a nd order mechanical sysem comprised of he fundamenal mechanical elemens: ineria or mass (M), siffness
4.8 Improper Integrals
4.8 Improper Inegrls Well you ve mde i hrough ll he inegrion echniques. Congrs! Unforunely for us, we sill need o cover one more inegrl. They re clled Improper Inegrls. A his poin, we ve only del wih inegrls
Chapter 5 Digital PID control algorithm. Hesheng Wang Department of Automation,SJTU 2016,03
Chaper 5 Digial PID conrol algorihm Hesheng Wang Deparmen of Auomaion,SJTU 216,3 Ouline Absrac Quasi-coninuous PID conrol algorihm Improvemen of sandard PID algorihm Choosing parameer of PID regulaor Brief
A FAMILY OF THREE-LEVEL DC-DC CONVERTERS
A FAMIY OF THREE-EVE DC-DC CONVERTERS Anonio José Beno Boion, Ivo Barbi Federal Universiy of Sana Caarina - UFSC, Power Elecronics Insiue - INEP PO box 5119, ZIP code 88040-970, Florianópolis, SC, BRAZI
Charging of capacitor through inductor and resistor
cur 4&: R circui harging of capacior hrough inducor and rsisor us considr a capacior of capacianc is conncd o a D sourc of.m.f. E hrough a rsisr of rsisanc R, an inducor of inducanc and a y K in sris.
5.1-The Initial-Value Problems For Ordinary Differential Equations
5.-The Iniil-Vlue Problems For Ordinry Differenil Equions Consider solving iniil-vlue problems for ordinry differenil equions: (*) y f, y, b, y. If we know he generl soluion y of he ordinry differenil
CSE 245: Computer Aided Circuit Simulation and Verification
CSE 45: Compur Aidd Circui Simulaion and Vrificaion Fall 4, Sp 8 Lcur : Dynamic Linar Sysm Oulin Tim Domain Analysis Sa Equaions RLC Nwork Analysis by Taylor Expansion Impuls Rspons in im domain Frquncy
Chapter 2. First Order Scalar Equations
Chaper. Firs Order Scalar Equaions We sar our sudy of differenial equaions in he same way he pioneers in his field did. We show paricular echniques o solve paricular ypes of firs order differenial equaions.
Science Advertisement Intergovernmental Panel on Climate Change: The Physical Science Basis 2/3/2007 Physics 253
Science Adeisemen Inegoenmenl Pnel on Clime Chnge: The Phsicl Science Bsis hp://www.ipcc.ch/spmfeb7.pdf /3/7 Phsics 53 hp://www.fonews.com/pojecs/pdf/spmfeb7.pdf /3/7 Phsics 53 3 Sus: Uni, Chpe 3 Vecos