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3UDFWLFH6HW62/87,21

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3UREOHP
Consider the following transfer functions:

(i )

2
2s
10
1
10
10
10
, (ii ) 2
, (iii.) 2
, (iv.) 2
, (v.) 2
, (vi.)
, (vii) 2
,
s  10
s  10
s  2s  1
s  2s  1
s  0.2s  100
s  7 s  10
s  3s  10

For each of these:

a) determine the corresponding input-output equation (let y(t) and u(t) be the output and input,
respectively)
b) the poles and zeros (plots these in the complex plane)
c) indicate which of the transfer functions represent stable systems, and how you came to that conclusion
d) for the transfer functions that are stable find (where relevant) the: 1) dominant time constant, 2) natural
frequency, 3) damping ratio
e) convert to state space form

3UREOHP
Consider the design of blood sampler. A blood sampler can be modeled by the mass-spring-damper system
shown below, where the needle has a mass of m = 0.01 kg. The system is initially at rest as shown.

When taking blood, one first pushes the needle to the compressed position and locks the needle. The needle is
then released so that it can penetrate the skin located at the cover position as shown. You are required to choose
the appropriate spring stiffness K and the damping coefficient B such that the system satisfies the following
requirement:
i.) The systems settling time (to be within 2 % of final value) is at most 40 ms to have a fast enough
response.
ii.) The needle should pass the cover position so that it can penetrate the skin.
iii.) The needle should not go past the cover position by more than 2 mm; this will prevent the needle from
penetrating the skin too much.
To solve this design problem, you need to:
(a) Derive the equations of motion (mathematical model).
(b) Analyze the response and choose K and B so that the above requirements are satisfied.
(c) Obtain and plot the dynamic response of the system for the values you choose in (b) via MATLAB
simulation. The time interval for this system should be set as 0 d t d 0.07 sec., with time step of 0.001 sec.
The sample MATLAB script for obtaining a unit step response of a second-order system is given on the next
page. Be sure to label each axis, place a title on each plot (include your last name), and grid each plot. Also,
the MATLAB script MUST be included for each transient response (NOTE: NO credit will be given for this
part if the transient response and the MATLAB script are not included.)
(d) Verify your design based on the simulated dynamic response in (c).
SOLUTION:
(a) Equation of motion:

mx  Bx  Kx 0

(1)

Put (1) into standard form:

B
K

x  x  x 0
m
m

Zn


x  2]Z n x  Z n2 x

K
m

B
m
2Zn

B
2 mK

(2)

(b) Notice that the response is due to the compression of the spring, which sets non-zero initial conditions as:

x(0)  x0

x (0) 0

20 mm

0.02 m

(3)

Thus, in principle, the problem can be solved by solving (2) with initial condition (3) to get a free response.
However, since we know the unit step response of a second-order system well, we will transform the above
problem into a unit step response problem as follows:

Define the reference position to be the compressed position, i.e.,

x  0.02

(4)

with the new coordinate z . The initial condition (3) becomes:

z(0) = x(0) + 0.02 0

z (0) x (0) 0

(5)

which are zero initial conditions. The dynamic equation (2) becomes

z  2]Z n z  Z n2  z  0.02 


z  2]Zn z  Zn2 z

0,
.02 Zn2

(6)

Note that (6) with zero initial conditions (5) represents the unit step response of a second-order system with
a gain of K 0.02 .

Thus, we will have the following response:

ME 375 HW 6 Problem 1
0.024

Upper Lim it

0.022

Cover Position
Equilibrium

0.02
0.018

Response

0.016
0.014
0.012
0.01
0.008
0.006
0.004
0.002
0

0.01

0.02

0.03

0.04

0.05
0.06
Tim e (sec)

0.07

0.08

0.09

0.1

i) To have a ts d 40 ms :

ts

d 0.04 s

(7)

0.022  0.02
10%
0.02

(8)

]Z n

ii) To penetrate skin, % overshoot should be:

%OS !

iii) To not go past the cover position by more than 2 mm :

%OS <

Equations (8) and (9) lead to:


note: %OS e

0.456  ]  0.59

0.024  0.02
0.02
S]
1] 2

20%

(9)

Thus, let

0.5

(10)

Equations (7) and 10 lead to:

Zn t

100

for ]

0.5, Z n

(11)

200 rad/sec

Thus, from (2)

B
M

K
M

2]Zn B

Zn K

2]Z n M t 200M
M Z n2

2 Ns/m

0.01u 2002

(12)

400 N/m

(c) MATLAB script:

t=0:0.001:0.07;
K=0.02;
zeta=0.5;
wn=200;
num=K*wn^2;
den=[1,2*zeta*wn,wn^2];
y=step(num,den,t);
plot(t,y);
xlabel('Time (sec)')
ylabel('Response')
grid
title('ME 375 HW 6 Problem 1')
ME 375 HW 6 Problem 1
0.024

Response z measured from compressed position (m)

0.022
0.02
0.018
0.016
0.014
0.012
0.01
0.008
0.006
0.004
0.002
0

0.01

0.02

0.03
0.04
Tim e (sec)

0.05

0.06

0.07

(d) As seen from the figure, the system has a settling time of around 0.04 sec and %OS of around 15%, which
meet the specifications.



3UREOHP
The dynamics of vertical motion of a vehicle can be approximated with a simple 2 mass model, the Quarter-car
Model. The model captures the interaction of the suspension stiffness and damping, the tire stiffness, the
vehicle body mass and the tire/wheel mass with variations in the road surface. Pictorially:

z(t)
M
B

y(t)

m
C

x(t)
Where:
-

M is the vehicle body mass [kg]

m is the mass of one wheel/tire [kg]
K is the suspension spring stiffness [N/m]
C is the wheel stiffness [N/m]
B is the suspension damping constant [Ns/m]

x(t), WKHLQSXW, is the vertical road surface profile

z(t) is the vertical position of the vehicle body
y(t) is the vertical position of the wheel

Here:

The equations of motion, in standard form, are:

Mz(t )  Bz (t )  Kz (t )  By (t )  Ky (t ) 0

my(t )  By (t )  ( K  C ) y (t )  Bz (t )  Kz (t ) Cx(t )
(a) Consider the displacement z(t) as the output of the system. By implementing the Laplace transform,
show that the transfer function from the input x(t) to the output z(t) is:

CBs  CK
Mms 4  B( M  m) s 3  ( Km  M ( K  C )) s 2  CBs  KC
(b) What is the corresponding input/output differential equation?
(c) Also show in state space form (in matrix form). Consider the following a outputs: (i.) the force
experience by the damper, (ii.) the difference between the kinetic energies of the two masses, and (iii.)
the displacement y.