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1.1 Question: Draw a component block diagram for each of the following feedback
control system.
(a) The manual steering system of an automobile
(b) Drebbel’s incubator
(c ) The water level controlled by a float and valve
(d) Watt’s steam engine with fly-ball governor
In each case, indicate the location of the elements listed below and give the units
associated with each signal.
• The process
• The process desired output signal
• The sensor
• The actuator
• The actuator output signal
• The controller
• The controller output signal
• The reference signal
• The error signal
Notice that in a number of cases the same physical device may perform more than
one of these functions.
Solution:
a) A manual steering system for an automobile:
b) Drebbel’s indicator:
c) Water level regulator:
d) Fly-ball governor:
Examples: Tubes filled with liquid mercury are attached to a bimetallic strip
which tilt the tube and cause the mercury to slide over electrical contacts. A
bimetallic strip consists of two strips of metal bonded together, each of a
different expansion coefficient so that themperature changes bend the metal.
In some cases, the bending of bimetallic strips simply cause electrical
contacts to open or close directly. Temperature can also be sensed
slectronically using a thermistor, a resistor whose resistance changes with
temperature. Modern computer-based thermostats sense the current from
the thermistor and convert that to a digital signal.
In addition, accuracy required for the course switch is around 5 cm; for the
fine floor alignment an accuracy of about 2mm is desirable to eliminate any
noticeable step for those entering or exiting the elevator.
Matlab :
Solution:
Part 1:
a=
1 2 4 2 1
b=
4 3 -1 0 1
a+b=
5 5 3 2 2
a-b=
-3 -1 5 2 0
min(a) =
1
(a > b) =
0 0 1 1 0
(a == b) =
0 0 0 0 1
sin(a) = [rads]
0.8415 0.9093 -0.7568 0.9093 0.8415
exp(b) =
54.5982 20.0855 0.3679 1.0000 2.7183
Part 2:
a=
1 2 3
3 2 3
0 1 0
b=
0 0 1
0 1 1
1 1 0
c=
1
2
3
a+b=
1 2 4
3 3 4
1 2 0
d = inv(b)
1 -1 1
-1 1 0
1 0 0
b*d=
1 0 0
0 1 0
0 0 1
sin(a) = [rads]
0.8415 0.9093 0.1411
0.1411 0.9093 0.1411
0 0.8415 0
a*b=
3 5 3
3 5 5
0 1 1
a .* b =
0 0 3
0 2 3
0 1 0
What is a + a transpose
2 6 0
4 4 2
6 6 0
Part 3 and 4:
Part 5:
The roots of [2 3 1] are:
-1.0000
-0.5000
>>
Figure 1
Plot of Sine from 0 to 4
1
0.8
0.6
0.4
0.2
0
y
-0.2
-0.4
-0.6
-0.8
-1
0 0.5 1 1.5 2 2.5 3 3.5 4
t
Matlab Code
% Hw1.m - program
%
% Homework 1 Matlab Assignment: Working with Vectors and Related Operations
% Matlab Preprocessing
clear, clc
% Initialization
% none
% Part 3 and 4:
disp(' '), disp('Part 3 and 4:'), disp(' ')
disp(' What special property does b * d have?')
disp(' b * d is the Identity matrix since d is the inverse of b'); disp(' ')
disp(' What is the operation given by a * b? ')
disp(' Matrix Multiplication of a and b. '), disp(' ')
disp(' and what is the operation given by a .* b?')
disp(' Element Multiplication of a and b.'), disp(' ')
% Part 5:
disp(' '), disp('Part 5:'), disp(' ')
a = [2 3 1];
c = roots(a); disp(' The roots of [2 3 1] are: '), disp(c)
e = poly(c); disp(' These are the roots of what polynomial: a'), disp(e)
f = 2*e; disp(' Verify that the roots come from the stated polynomial:')
disp(' [2 3 1] = 2 * [1 1.5 0.5]'), disp(f)
% Part 6:
disp(' '), disp('Part 6: Graph Sine Wave - See Figure 1'), disp(' ')
t = 0:0.01:4; % Create a vector from 0 to 4 in increments of 0.01
y = sin(2*pi*t); % Create a sine wave with a period of t
figure(1), plot(t,y) % Plot the sine wave in Figure 1
title('Plot of Sine from 0 to 4'), xlabel('t'), ylabel('y'), grid