CEE-335 Automatic Control Systems 1

CEE-335 Automatic Control Systems

Spring 2011
Exam 1

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1. Use the Laplace transforms to solve for the current i (t) in Figure 1, if there
is no initial energy in the network and V (t) = 2 u (t) V, a unit step input with
magnitude of 2 volts.

i (t)
Switch
time = 0
R
V (t)
L

Fig. 1 RL circuit











CEE-335 Automatic Control Systems 2

2. Consider the mechanical system shown in Figure 2. The system is initially at
rest, and the displacement y is measured from the equilibrium condition.
Assume that m = 1 kg, B = 4 N / (m/s), and k = 40 N/m. Solve the system
dynamics in terms of position y as functions of time when 40N of force (a
step input) is applied to the mass m.

y
k
B
m
P (10N of force)

Fig. 2 Mechanical system

The equation of motion for Fig. 2 can be written as my+By+ky=P













CEE-335 Automatic Control Systems 3

3. Consider a rotating disk in an electro-mechanical system in Figure 3.
Assume that the torque T is applied to the disk by a shaft of a motor with a
unit step u (t) torque (N-m). Assume also that the system is initially at rest.
Find the angular velocity (t) or (t) of the system given the numerical
values to the equation of motion: J+B=T or J+B=T

The moment of inertia of the disk J = 10 kg.m
2
Friction coefficient b = 2 N/ (m/s).


Figure 3 Rotational system













CEE-335 Automatic Control Systems 4

4. Consider the position control of a motor with a proportional integral and
derivative controller in Fig. 4 which has a transfer function of the form:

2
1 t
| | | | + +
=
| |
+
\ . \ .
(s)
E(s)
D P I m
m
s K sK K K
s s


Where K
m
is the motor constant and
m
= L/R is the motor time constant
( ) E s
p
K

+
I
K
D
K
1
S
S
+
+
( ) X s
1 t +
m
m
K
s
Motor transfer
function
( ) s

Figure 4 Position controls of a motor with a PID controller

Assume K
D
and K
I
are zero for the transfer function in Fig. 4, find(t) given
the numerical values for 1 =
P
K , 1 =
m
K , and 0.1 t =
m
with a unit step input for
E(s).