CHAPTER 2 2.

DYNAMIC MODELS AND DYNAMIC RESPONSE

Revisiting Examples 2.4 and 2.5 will be helpful. (a) R(s) = A; y(t) = (b) R(s) =

Y ( s) =

KA t s +1
yss = 0
KA s (s + 1)

KA - t / t e ; t A ; s

Y(s) =

y(t) = KA (1 e t / ) ; (c) R(s) =

A KA ; Y(s) = 2 s2 s ( s + 1)

yss = KA

y(t) = KA (t + e t / ) ; (d) R(s) =

Aw ; s2 + w 2

yss = KA (t - t )

Y(s) =

KA (s + 1)( s 2 + 2 )

y(t) =

KA t / KA sin( t + ) e + 2 2 2 2 +1 +1

y( t )
2.2

= tan 1 ( )
t

KA

2 +1
2

sin( t + )

(a) The following result follows from Eqns (2.57 - 2.58) y(t) = 1

e n t 12

sin d t + 2 tan 1

F GH

12

I JK

d = n 12
The final value theorem is applicable: the function sY(s) does not have poles on the jw-axis and right half of s-plane. yss = lim sY ( s ) = 1
s 0

(b)

The following result follows from Review Examples 2.2.

SOLUTION MANUAL

y(t) = t

2 e n t 12 sin d t + 2 tan 1 + n d
2 n

F GH

I JK

yss = t

The final value theorem is not applicable; the function sY(s) has a pole on the jw -axis. 2.3 Revisiting Review Example 2.1 will be helpful.
E0 (s ) R / 10 4 10 = ; Ei ( s ) = 2 Ei ( s) RCs + 1 s

e0 (t ) = 10

R - t /t ( ); t = RC 4 t -t +te 10

For the output to track the input with a steady-state delay 100 106 sec, it is necessary that

R = 1, and t = RC = 100 10-6 10 4

This gives R = 10 k W ; C = 0.1 mF Steady-state error = 10 t - (10 t 10t ) = 0.001 2.4 Revisiting Review Example 2.2 will be helpful.
w n = 100; z = 3; 2z / w n = 6 / 100 sec = 60 msec

Steady-state error = 25t - 25t - 25 = 1.5 2.5

FG H

2z wn

IJ K

&& & My( t ) + By ( t ) + Ky( t ) = F(t) = 1000m (t)

Y(s) =

1 s( s + 10 s + 100 )
2

= 10, = 0.5, wd = 5 3

Using Eqns (2.57)-(2.58), we obtain

CONTROL SYSTEMS: PRINCIPLES AND DESIGN

y(t) = 0.01 1 -

LM N

2 -5 t e sin(5 3 t + tan -1 3 3

OP Q

2.6

Y ( s) 6 6 = G( s ) = 2 = R( s) s + 7s + 6 ( s + 1)(s + 6) | G( j )| = 2 =
yss = =

3 5 2 3 5 2

; G(j2) = 81.87 sin( 2t 81.87 )

3 21 sin 2t cos 2t 50 50

2.7

Y (s) s+3 s+3 = G(s) = 2 = R( s ) ( s + 2 )( s + 5) s + 7s + 10

(a) R(s) = y(t) = (b)
1 s +1

FH 1 e 2

1 1 e 2 t e 5 t ( t ) 3 6

IK

(s2 + 7s + 10) Y(s) sy(0) y (0) 7y(0) & = (s + 3) R(s) sr(0)

Initial conditions before application of the input are

& y(0) = 1, y (0) =
1 , r(0) = 0 2

Y(s) =

s + 15 / 2 s+3 + ( s + 2 )( s + 5) ( s + 2 )( s + 5)( s + 1)
1 - t 3 -2t e + e - e -5t 2 2

y(t) = 2.8

X = X + x; I = I + i

d 2 (X + x) = F ( X + x , I + i ) Mg dt 2

SOLUTION MANUAL

F && Mx = F ( X + I ) + X

FG H

X ,I

IJ x + FG F IJ i Mg K H I K
X ,I

3 F ( X + I ) = Mg = 8.4 10 9.8 Newtons

For this value of force, we get from Fig. 2.8b,

X = 0.27cm ; I = 0.6 amps

Again from Fig. P 2.8b,

K1 = K2 =
&& x=

F X F I

= 0.14 Newtons/cm
X ,I

= 0.4 Newtons/amp
X ,I

K1 K X (s ) 47.6 x + 2 i; = 2 M M I (s ) s - 16.67

2.9

&& & Mx + Bx + Kx = K1 ( y - x )

Gravitational effect has been eliminated by appropriate choice of the zero position.

X (s) 0.1667 = G( s) = Y (s ) ( 0.0033 s + 1)( 0.0217 s + 1)

w = 2p v / l = 11.63 rad /sec
| G( j | =11. 63 = 0.1615

x(peak) = 7.5 0.1615 = 1.2113 cm 2.10 (a)

&& & Mx + Bx + Kx = F(t )

Gravitational effect has been eliminated by appropriate choice of the zero position.
X ( s) 1 F( s) = Ms 2 + Bs + K

Force transmitted to the ground = K X(s) + Bs X(s)

CONTROL SYSTEMS: PRINCIPLES AND DESIGN

FH B s + 1IK F(s) K
M 2 B s + s +1 K K
A sin wt

F(t) =

Peak amplitude of the force transmitted to the ground at steady-state

FH B IK K FG1 M IJ + F B I H K K HKK
A 1+
2 2 2

&& & & (b) Mx + B( x - y) + K ( x - y) = 0

X (s) Bs + K = 2 Y (s ) Ms + Bs + K
Peak amplitude of machine vibration

FH B vIK K FG1 - Mv IJ + F Bv I H K K H `K K
A 1+
2 2 2

& & & & 2.11 M1 &&1 + K1 ( y1 y0 ) + B1 ( y1 y0 ) + K 2 ( y1 y2 ) + B2 ( y1 y2 ) = 0 y

& & M2 &&2 + K 2 ( y2 y1 ) + B2 ( y2 y1 ) = 0 y

Gravitational effect has been eliminated by appropriate choice of the zero position. 2.12 The following result follows from Section 11.2 (Eqn (11.9)). (a)
E0 (s ) 1 + 2 RC2 s + R2 C1C2 s 2 = Ei ( s) 1 + R(C1 + 2C2 )s + R2C1C2 s2

(b)

E0 (s ) 1 + 2 R1Cs + R1 R2C 2 s 2 = Ei ( s) 1 + (2 R1 + R2 )Cs + R1 R2 C 2 s 2

2.13 Refer Example 11.6 2.14 Refer Example 11.7

SOLUTION MANUAL

2.15 The following result follows from Example 12.9.

& &, x1 = f, x 2 = f , x 3 = z, x 4 = z r = F(t )

& x = Ax + br

A =

LM 0 MM4.4537 0 MN0.5809

1 0 0 0 0 0 0 0 0

OP LM 0 OP 0 PP ; b = MM0.3947PP 1 0 PQ MN 0.9211 PQ 0

2.16 Mixing valve obeys the following equations:

(Qi + qi ) r cq H + [Q - (Qi + qi )] r cq C = Qr c(Qi + q i )

q i = kv x The perturbation equation is

K v (q H - q C ) x(t) = Q q i (t )

or,

x(t) = Kq i (t ); K = Q / [ K v (q H - q C )] The tank obeys the equations

Vr c dq = Qr c(q id - q ); q id (t ) = q i ( t - t D ) dt

This gives
q (s ) e -1. 5s = q i ( s) s +1

2.17 C1
C2

q1 - q 2 1 d 1 = qm (t )l - R ; R1 = UA 1 dt

dq 2 dt

q1 - q 2 q i - q 2 + ; R1 R2

C2 = Vrc; R2 =

1 Qrc

From these equations, we get

& 1 = 1.92 1 + 1.92 2 + 4.46 q m & 2 = 0.078 q 1 - 0.2 q 2 + 0.125 q i

CONTROL SYSTEMS: PRINCIPLES AND DESIGN

2.18 At steady-state 0 =

q1 - q 2 q i - q 2 ; this gives 1 = 120 C + R1 R2

0 = Qm

1 2 ; this gives Qm = 17.26 kg / min R1

2.19 Energy balance on process fluid:

V2 2 c2

d ( 2 + 2 ) = Q2 2 c2 [ i 2 ( 2 + 2 )] UA[ 2 + 2 1 1 ] dt

At steady-state 0 = Q2 r 2 c2 (q i 2 - q 2 ) - UA(q 2 - q 1 ); this gives q1 = 40 C The perturbation equation is

V2r 2c2 dq 2 - Q2 r 2c2q 2 - UA(q 2 - q 1 ) dt

This gives
544.5 + dq 2 + q 2 = 0.432 q1 dt

Energy balance on the cooling water:

V1r1c1 d q1 + q 1 = (Q1 + q1 )r 1c1 [q i1 - (q 1 + q 1 )] dt

+ UA[q 2 + q 2 - q1 - q 1 ] At steady-state 0 = Q1r1c1[q i1 - q1] + UA[q 2 - q1 ]; this gives

3 3 Q1 = 5.28 10 m /sec

The perturbation equation is

V1r1c1 dq 1 = ( i1 1 ) 1c1q1 Q1 1c1 1 + UA ( 2 1 ) dt

SOLUTION MANUAL

This gives 184.55

dq1 + q1 = 0.465 q 1 1318.2 q1 dt

Manipulation of the perturbation equation gives

q 2 (s ) 557.6 = 3 2 q 1 ( s) 100.5 10 s + 729s + 0.8

2.20 Tank 1:
C1 dp1 = q1 q10 q11 dt

q10 = flow through R0; q11 = flow through R1

A1 dh rgh1 rg(h1 - h2 ) rg 1 = q1 R0 R1 dt rg

or

1 1 rg 1 rg dh1 + h1 + h2 + q1 =A1 R0 R1 A1 R1 A1 dt

F GH

I JK

= 3h1 + 2h2 + r1 Tank 2:

C2 dp2 = q2 + q11 q20 dt

q20 = flow through R2

A2 dh rg(h1 - h2 ) rgh2 rg 2 = + q2 dt rg R1 R2

or

1 1 rg rg 1 dh2 + h1 h2 + q2 = A2 R1 A2 R1 R2 A2 dt

FG H

IJ K

= 4h1 5h2 + r2 2.21 A

d ( H + h) = Q1 + q1 + Q2 + q2 - Q - q dt

At steady-state 0 = Q1 + Q2 - Q ; this gives Q = 30 litres/sec The perturbation equation is

10

CONTROL SYSTEMS: PRINCIPLES AND DESIGN

dh = q1 + q 2 q dt

The turbulent flow is governed by the relation Q(t) = K H(t ) = f(H) Linearizing about the operating point, we obtain Q(t) = f ( H ) +

FG f ( H) H H
h(t )

H= H

IJ (H - H ) K

= Q+ Therefore q(t) =
K

K 2 H

h(t ) =

2 H

K H Q h (t ) h(t ) = 2H 2H

1 1 1 dh(t ) = - q(t ) + q1(t ) + q2 (t ) dt A A A

= 0.01 h(t) + 0.133 q1(t) + 0.133 q2(t) Mass balance on salt in the tank:

d [( H + h( t ) ( C + c ( t ))] = C1[Q1 + q1(t )] + C2 [Q2 + q2 (t )] dt [ C + c ( t )][ Q + q ( t )]

At steady state, 0 = C1Q1 + C2Q2 - CQ ; this gives C = 15 The perturbation equation is

AH dc( t ) dh( t ) = C1q1(t ) + C2q2 (t ) - Cq(t ) - Q c(t ) + AC dt dt

This gives
dc(t ) = 0.02 c(t) 0.004 q1(t) + 0.002 q2(t) dt

SOLUTION MANUAL

11

2.22 e D s = 1 - t D s +

t 2 s2 t 3 s3 t 4 s4 t 5 s5 D - D + D - D + ... 2! 3! 4! 5!

It is easy to calculate with long division that

1- t Ds / 2 t 2 s2 t 3 s3 = 1 - t D s + D - D + ... 2 4 1+ tDs / 2
2 1 - t D s / 2 + t D s 2 / 12 t 2 s 2 t 3 s3 = 1- tDs + D - D 2 2 6 1 + t D s / 2 + t D s 2 / 12 4 5 t D s 4 t D s5 + - ... 12 144