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Mechatronics Endsem Exam Practice Problems

The document contains practice problems for a Mechatronics end-semester exam, covering topics such as transfer functions, root loci, stability analysis, and z-transforms. It includes specific problems related to control systems, motors, and hydraulic systems, along with diagrams for reference. Additionally, it addresses the principles of operation for various motor types and provides calculations for motor performance metrics.

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21je0638
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23 views4 pages

Mechatronics Endsem Exam Practice Problems

The document contains practice problems for a Mechatronics end-semester exam, covering topics such as transfer functions, root loci, stability analysis, and z-transforms. It includes specific problems related to control systems, motors, and hydraulic systems, along with diagrams for reference. Additionally, it addresses the principles of operation for various motor types and provides calculations for motor performance metrics.

Uploaded by

21je0638
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Practice problems for endsem exam

Subject: Mechatronics (MMD 508)

1. Consider the system shown in Fig. 1. An armature-controlled dc servomotor drives a


load consisting of the moment of inertia JL. The torque developed by the motor is T.
The moment of inertia of the motor rotor is Jm. The angular displacements of the motor
rotor and the load element are 𝜃𝑚 and 𝜃, respectively. The gear ratio is 𝑛 = 𝜃⁄𝜃𝑚 .
Obtain the transfer function Θ(𝑠)⁄𝐸𝑖 (𝑠).

Fig. 1

2. Plot the root loci for closed-loop control systems with the following open-loop transfer
functions:

K ( s  4) K K ( s  0.2)
i) G( s)  , ii) G( s)  , iii) G( s)  2 ,
( s  1) 2
s( s  1)(s  4s  5)
2
s ( s  3.6)
K ( s  0.5) K
iv) G ( s)  3 2 , v) G( s)  2 ,
s  s 1 ( s  2s  2)(s 2  2s  5)
K ( s  1)
vi) G( s)  2
( s  2s  2)(s 2  2s  5)

If the value of gain K is set equal to 1, where are the closed-loop poles located?

K ( s 2  6s  10)
3. Show that the root loci for a control system with G( s)  , H ( s)  1 are
s 2  2s  10
arcs of the circle centered at the origin with radius equal to 10 .

4. Plot root-loci for the systems shown in Fig. 2 and Fig. 3

Fig. 2 Fig. 3

Page 1 of 4
5. Consider a unity feedback system with feed-forward transfer function
K ( s  1)
G( s)  2 , K  0 . Sketch a root-locus and comment on the stability for the
s  2s  3
system with the variation of K.

K s  z 
6. A unity feedback system has the open-loop transfer function, G s  
s  p 2
Where z and p are real and z > p. Show that the root locus of the system is a circle with
centre at s = -z and radius equal to (z-p).

7. Derive the transfer function Z(s)/Y(s) of the hydraulic system shown in Fig. 4. Assume
that the two dashpots in the system are identical ones.

Fig. 4

8. An electromechanical system is shown in Fig. 5. Considering the force exerted on the


plunger is proportional to the current, obtain a state space model for the system. Assume
the displacement of the plunger is measured.

Fig. 5

9. Consider the model for a space vehicle control system shown in Fig. 6. Design a suitable
compensator Gc(s) such that the damping ratio  and the undamped natural frequency
 n of the dominant closed-loop poles are 0.5 and 2 rad/s, respectively. Finally obtain
the closed-loop transfer function for the compensated system.

Page 2 of 4
Fig. 6

10. Explain the principle of the brushless d.c. permanent magnet motor.
11. Explain the principles of operation of the variable reluctance stepper motor.
12. If a stepper motor has a step angle of 7.5°, what digital input rate in pulses per second
is required to produce a rotation of 10 rev/s?
13. A permanent magnet d.c. motor has an armature resistance of 0.5 Ω and when a voltage
of 120 V is applied to the motor it reaches a steady-state speed of rotation of 20 rev/s
and draws 40 A. What will be (a) the power input to the motor, (b) the power loss in
the armature, (c) the torque generated at that speed?
14. If a d.c. motor produces a torque of 2.6 Nm when the armature current is 2 A, what will
be the torque with a current of 0.5 A?
15. For the transistor circuit shown in Fig. 7, find the pertinent transistor voltage and current
if VIN is (i) 0.1 V, (ii) 1.0 V, and (iii) 5 V. Consider   250 , and assign usual values
for VBE and VCE.

Fig. 7
K ( s  2)
16. The open-loop transfer function of a unity feedback system is: G( s) 
5(3s 2  10s  a)
Find the value of a and K so that the system response oscillations are at a frequency of
2 rad/s.

Page 3 of 4
17. Find a state feedback gain matrix that will place the eigenvalues of the following system
at the new locations 𝜆1 = −4 and 𝜆2 = −5 .
18. Find the z-transform of the unit step function, us  t  .

19. Find the z-transform of the ramp function: f t   t us t .

20. Find the z-transform of the exponential function: f  t   e  at , where a is a real constant.

21. Find the z-transform of f  t   sin t

 2 .
k
22. Find the z-transform of: f  k   1

Page 4 of 4

Common questions

Powered by AI

The root loci are arcs of a circle by recognizing the system's poles and zeros and how they affect root loci paths. Here, the loci would be on a circle centered at the origin with a radius determined by the characteristic equation (s^2 + 2s + 10) when plotted on the s-plane. The symmetry and geometric properties of the root locus plot, such as angles of departure and breakaway points, confirm their arc shape around a central origin .

To achieve a rotational speed of 10 revolutions per second with a step angle of 7.5°, the stepper motor requires 48 steps per revolution (360°/7.5° per step). Therefore, the digital input rate needed is 480 pulses per second (10 revolutions/second * 48 steps/revolution).

To derive a state-space model, the system's dynamics are expressed in terms of state variables typically including displacement and velocity of the plunger, and the current. Starting with Newton’s laws and Kirchhoff’s laws, these equations are linearized if necessary and expressed in a matrix form: x' = Ax + Bu; y = Cx + Du, where x is the state vector, u the input, y the output, and A, B, C, D are matrices describing the system's dynamics .

A brushless DC permanent magnet motor operates using electronic control to switch current between windings, avoiding the mechanical commutation present in brushed motors. This eliminates brushes and the commutator, reducing mechanical wear and increasing efficiency. The rotor typically contains permanent magnets, and their field interacts with the stator's electronically controlled field coils to produce motion .

A compensator Gc(s) must be designed to modify the system's open-loop transfer function such that the closed-loop poles achieve the desired damping ratio ζ = 0.5 and natural frequency ω_n = 2 rad/s. This is typically done by pole-placement or frequency response methods, modifying the characteristic equation's coefficients to achieve the specified pole locations in the s-plane, ensuring the system meets these dynamic specifications .

Torque is linearly related to the armature current: T = k * I where k is the motor constant. Given T = 2.6 Nm at 2 A, reduce by the same factor to get T at 0.5 A. Thus, T_0.5A = (0.5A/2A) * 2.6 Nm = 0.65 Nm .

To derive the transfer function Θ(s)/Ei(s), one must consider the dynamics of the armature-controlled DC servomotor system where the torque T developed by the motor is related to the moment of inertia of the motor rotor Jm and load JL. The angular displacements of the motor rotor and load are θm and θ, with the gear ratio n = θ/θm. Using these parameters, the Laplace transformed equations are formulated, considering back EMF and mechanical load effects, leading to the transfer function representation .

For a step angle of 7.5°, the motor requires 48 steps for one full revolution (360 degrees/7.5 degrees per step). Therefore, to achieve 10 revolutions per second, the motor needs 480 pulses per second (10 revolutions/second * 48 steps/revolution).

The power input to the motor is calculated using P_input = V * I = 120V * 40A = 4800W. The power loss in the armature can be found using P_loss = I^2 * R = (40A)^2 * 0.5Ω = 800W. Therefore, the torque generated, considering losses, can be deduced from mechanical power (P_mechanical = P_input - P_loss) and the known rotational speed .

The root locus is circle-shaped due to the system's zeros and poles' specific placement. A zero at s = -z and poles at s = -p create a locus with a center at -z on the real axis (since z > p) with a radius determined by the distance (z-p), tracing out a circular path when plotted .

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