Documente Academic
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to Determine System
Parameters
Control Systems and Automation
By Brendan Burr
Brendan Burr
Table of Contents
TABLE OF CONTENTS...........................................................2
TASK 1................................................................................5
1.1 Explain the need for the following operator methods when
solving engineering problems:-............................................5
Laplace Transforms.............................................................5
Solution:-.........................................................................................5
Inverse Laplace Transforms.................................................5
Solution:-.........................................................................................5
Partial Fractions..................................................................6
Solution:-.........................................................................................6
Completing the square method............................................7
Solution:-.........................................................................................7
TASK 2................................................................................8
2.1 (a) Derive the equations in the time domain (t) for the
following signals: -..............................................................8
Solution (i):-.....................................................................................8
Solution (ii):-....................................................................................8
(b) Derive the equations in the frequency domain (s) using
Laplace Transforms:-...........................................................9
Solution (i):-.....................................................................................9
Solution (ii):-....................................................................................9
TASK 3..............................................................................10
3.1 Use tables of Laplace Transforms to find the signal in the
frequency domain:-...........................................................10
(a) ...................................................................................10
Solution:-.......................................................................................10
(b) ...................................................................................10
Solution:-.......................................................................................10
(c) ...................................................................................11
Solution:-.......................................................................................11
(d) ...................................................................................11
Solution:-.......................................................................................11
2
Brendan Burr
Brendan Burr
Brendan Burr
Task 1
1.1
Explain the need for the following operator methods when solving
engineering problems:-
Laplace Transforms
Solution:We use Laplace Transforms as standard modelling tools used in
Control Engineering.
Laplace Transforms allow engineers to transform differential equations
into more easily solvable algebraic equations. This allows differential
equations, which describe circuit behaviour through time, to be
converted to a form which allows algebraic manipulations to be carried
out.
The Laplace Transform, F(s), of a Time Domain signal f(t) is define by
an integral:
F ( s ) = f ( t ) e st dt
0
Brendan Burr
Partial Fractions
Solution:This method enables us to convert an algebraic expression into simple
fractions, for example:
3x + 4
1
2
+
into
x + 3x + 2
x +1 x + 2
2
f ( s)
( s + a )( s + b )( s + c )
A
B
C
+
+
s+a s+b s+c
Partial fraction
f ( s)
( s + a) n
A
B
C
N
+
+
+ ......
2
3
s + a ( s + a)
( s + a)
( s + a) n
Partial fraction
f ( s)
as + bs + c
2
Partial fraction
As + B
as + bs + c
2
f (t)
as + bs + c ( s + d )
Partial fraction
As + B
C
+
as + bs + c s + d
2
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c
to the right side of the equation.
a
Step 3 Complete the square on the left side of the equation and
balance this by adding the same value to the right side of the equation.
Step 4 Take the square root on both sides of the equation.
Step 5 Add or subtract the number that remains on the left side of the
equation to find x.
For example:
Solving 5 x 2 4 x 2 = 0
Step 1 -
5x2 4 x 2
=0
5
5 5
( x 0.14) 2 = 0.56
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Task 2
2.1
(a)
Derive the equations in the time domain (t) for the following
signals: -
(i)
(ii)
Solution (i):-
= 2f
= 2000
v( t ) = SIN ( t )
t0
v( t ) = SIN ( 2000t )
v (t ) =
10 SIN
(2000
t)
Solution (ii):v( t ) = 20
v( t ) = 0
t 0
t< 0
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(b)
f (t)
SIN ( t )
20000
s 2 + ( 2000 )
F ( s)
2
s +2
v( t ) = 20
1
v( s ) =
20
s
F ( s)
1
s
Brendan Burr
Task 3
3.1
(a)
f (t ) = 2t 2 6
Solution:f (t)
f ( t ) = 2t 2 6
F ( s) = 2
F ( s) =
(b)
2 1 6
s 2 +1 s
F ( s)
n!
s n +1
1
s
4 6
s3 s
f (t ) = 1 2e 4t
Solution:-
f (t)
f ( t ) = 1 2e 4t
F ( s) =
1
2
s s +4
10
F ( s)
1
s +
1
s
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(c)
f (t ) = 3 cos 4t
Solution:-
f (t ) = 3 cos 4t
F ( s) = 3
F ( s) =
(d)
s
s + 42
f (t)
COS ( t )
F ( s)
s
2
s +2
3s
s 2 + 16
f (t ) = 2e 6t sin 4t
Solution:-
f (t ) = 2e 6t sin 4t
F ( s) = 2
( s + 6) 2 + 4 2
f (t)
F ( s) =
e t SINt
( s + 6) 2 +16
11
F ( s)
(s +)2 +2
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3.2
(a)
Use tables of Inverse Laplace Transforms to find the signal in the time
domain :4
s
F (s) =
Solution:-
F ( s) =
4
s
f (t)
1
f (t ) = 4
(b)
F (s) =
F ( s)
1
s
2s
s +4
2
Solution:F (s) =
2s
2
s +4
f (t ) =2CO
S
f (t)
COS ( t )
(2t )
12
F ( s)
s
2
s +2
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(c)
F ( s) =
s +1
s + 2s + 5
2
Solution:Denominator:
( s + 1) 2 = s 2 + 2s + 1
s 2 + 2 s + 5 ( s + 1) + 4
2
So:
F ( s) =
s +1
( s + 1) 2 + 4
f (t)
e t COS ( t )
F ( s)
s +
(s +)2 +2
=1
=2
So:
f (t ) =e 1t CO
S
(2t )
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Brendan Burr
(d)
F (s) =
2s + 3
s + 6s + 8
2
Solution:Denominator:
( s + 3) 2 = s 2 + 6 s + 9
( s + 3) 1 = s 2 + 6 s + 8
2
So:
F ( s) =
2s + 3
( s + 3) 2 1
Numerator:
2 s + 3 2( s + 3) 3
So:
2s + 3
2( s + 3) 3
2
( s + 3) 1 ( s + 3) 2 1
f (t)
e t COSH ( t )
e t SINH ( t )
F ( s)
s +
(s +)2 2
(s +)2 2
=1
=3
K= 2
F ( s) =
2( s + 3)
3
2
( s + 3) 1 ( s + 3) 2 1
3t
(t )
3e
SIN
H
(t )
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Brendan Burr
Task 4
4.1
Determine the equation for the current i(t) when the applied voltage v(t) is a
step input of 5 volts using Laplace Transforms.
Solution:i( t ) I ( s )
v( t ) V ( s )
di
s.I i ( 0 )
dt
5v STEP =
5
s
5
s
i(0) is the value of the current when t=0, therefore i(0) = 0
s.I i ( 0 ) + 25 I =
So:
5
s
5
I ( s + 25) =
s
5
1
I=
s ( s + 25)
5
I=
s( s + 25)
1
25
I= 5
s( s + 25)
= 25
1
K=
5
[Time Domain]
s.I + 25 I =
i( t ) =
1
1 e 25 t
5
f (t)
1 e t
d
f (t)
dt
15
F ( s)
s( s + )
sF ( s ) f ( 0 )
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= 5 0.0398
= 0.199
=
0.1
9
9
Seconds
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4.2
Solution:sY y ( 0) + 2Y = 4
1
s+2
4
s+2
Y ( s + 2) =
4
s+2
Y=
Y=
Y=
f (t)
e t
4
1
s+2 s+2
d
f (t)
dt
( s + 2)( s + 2)
t e t
4
( s + 2) 2
=2
y (t ) =4t e 2t
17
F ( s)
1
s +
sF ( s ) f ( 0 )
1
(s +)2
Brendan Burr
4.3
d v
+ 36v = 0
2
dt
(a)
Determine the equation for the voltage v (t) using Laplace Transforms.
Solution:d 2v
dv
2
2
+ 2 n
+n v = n vi
dt
dt 2
n = 6
Rads/sec
f (t)
Vs 2 + V 36 + s 6 = 0
(
V (s
)
+ 36 ) = s + 6
Sin( t )
V s 2 + 36 + s 6 = 0
2
Cos ( t )
s+6
s 2 + 36
s
6
V = 2
+ 2
s + 36 s + 36
V =
C
os
18
F ( s)
2
s +2
s
2
s +2
Brendan Burr
(b)
Solution:-
n = 6 Rads/sec
2f n = 6
fn =
6
2
Hz
6
Pt =
2
Pt =
Secs
There is no damping as R=0, you can see this through the second graph
above as the waveform has a constant peak value. Zeta also equals zero.
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Brendan Burr
4.4
n =
1
LC
n =
1
LC
So:
1
0.110 6
n =
(100 10 ) (
n =
1
10 8
n = 0.110 9
n =10 ,000
Rads/sec
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Brendan Burr
(b)
Solution: =
W here
R
=
2L
2L
n
1,000
2 100 10 3
10,000
1,000
200 10 3
10,000
5,000
10,000
=0.5
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Brendan Burr
(c)
Solution:d 2 vo
dv
2
2
+ 2 n
+n vo = n vi
dt
dt 2
1st Term
d2
( vo ) s 2Vo ( s ) svo ( 0) vo ' ( 0)
2
dt
d 2 vo
s 2Vo ( s ) 0 0
2
dt
2nd Term
dv o
sVo v o ( 0 )
dt
So:
s 2Vo = 2 n sVo + n Vo = n Vi
2
Vo s 2 + 2 n s + n
)=
2
n
Vi
n 2Vi
Vo = 2
2
s + 2 n s + n
So the transfer function G(s) of a second order control system is as
follows:
Vo
n 2
= 2
Vi s + 2 n s + n 2
Therefore:
Vo
10,000 2
=
Vi s 2 + 2( 0.5)(10,000 ) s + 10,000 2
Vo
10 8
= 2
Vi
s + 10 4 s + 10 8
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Brendan Burr
Evaluation
This assignment tested my understanding of the information given to me in
class. For Task 1, I had to explain a number of methods used in control
engineering calculations. I used the Control Engineering book written by W.
Bolton, as well as notes taken from class, to help me explain the Laplace
Transforms as well as the Inverse Laplace Transforms. I then used the book
to also help me explain the Partial Fractions, even though we had gone
through it in class.
I couldnt remember doing much work on the completing the square method,
with regards to the Laplace Transforms, however it did fit into the explanation
given for the Partial Fractions. I completed a bit of research in the Higher
Engineering Mathematics book, written by J. Bird, to help refresh my memory
and soon remembered that we have used this method in analytical methods in
previous years.
Task 2 involved me performing some basic transpositions between the time
and the s domains. Once you get the hang of using the Laplace Transforms
Table this task was very straightforward. I was able to work out the answers,
transforming from the time domain to the s domain and then inverting it for the
second part of the task.
For Task 3, it took me a little bit longer to come up with a solution, however
the working out was very similar to Task 2. Using the Laplace Transforms
Table I was able to come up with the answer. I couldnt find a method of
checking the answer, other than ensuring that all my workings were correct.
Using the examples given to me in class along with the existing knowledge
gained from the rest of the unit, I was able to complete Task 4. For Task 4.1,
I used a couple of the Laplace Transforms taken from the table. This enabled
me to convert the equation into the s domain and then manipulate it, before
turning it back into the time domain. The manipulation involved some basic
transposition of formula to put the values of omega and alpha into a similar
place to match up with the LT Table.
I used a similar approach to Task 4.2, manipulation on the numbers gave me
values for alpha, which I could then convert from one domain to the other with
relative ease.
I had a bit of difficulty with the + and - symbols in Task 4.3. At first I wasnt
sure whether they got dropped in the conversion to the time domain at the
end of the workings, but after thinking about it for a bit I made the decision to
keep them in. I used Graphmatica to see the waveform and check it matched
up with my workings, which it did, however I found that this wasnt a suitable
check for the question.
Tasks 4.4a and b were very straightforward. They simply involved inputting
some values into equations. Task 4.4c involved some careful manipulation
but in all this was also relatively easy.
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Brendan Burr
Conclusion
I found this assignment quite time consuming in the write up. I have noticed
in previous years of Analytical Methods assignments that typing up formula
can be extremely time consuming because of the level of detail required. It is
for this reason that it is also easy to make a typographical mistake on the
assignment, even though the rough workings are accurate.
Because of the level of tutoring we received for this assignment, I found it
generally easy. At times during lessons I did find myself having to
concentrate quite hard to make sense of the new material, however it did go
in eventually.
I am confident that the answers I have provided are accurate even though I
was unable to provide a checking method for the majority of them.
Bibliography
Through guidance from my lecturer, the following text books, catalogues and
websites I was able to complete this assignment:
Books
Higher Engineering Mathematics (John Bird)
ISBN: 0-7506-8152-7
Control Engineering (W. Bolton)
ISBN: 0-582-32773-3
Catalogues
N/A
Websites
N/A
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