《自动控制原理作业答案》.doc

Module3 Problem 3.1 (a) When the input variable is the force F. The input variable F and the output variable y are related by the equation obtained by equating the moment on the stick: Taking Laplace transforms, assuming initial conditions to be zero, leading to the transfer function where the time constant is given by (b) When F = 0 The input variable is x, the displacement of the top point of the upper spring. The input variable x and the output variable y are related by the equation obtained by the moment on the stick: Taking Laplace transforms, assuming initial conditions to be zero, leading to the transfer function where the time constant is given by Problem 3.2 P54 Determine the output of the open-loop system G(s) = to the input r(t) = t Sketch both input and output as functions of time, and determine the steady-state error between the input and output. Compare the result with that given by Fig3.7 . Solution： While the input r(t) = t , use Laplace transforms, Input r(s)= Output c(s) = r(s) G(s) = = the time-domain response becomes c(t) = Problem 3.3 3.3 The massless bar shown in Fig.P3.3 has been displaced a distance and is subjected to a unit impulse in the direction shown. Find the response of the system for t0 and sketch the result as a function of time. Confirm the steady-state response using the final-value theorem. Solution： The equation obtained by equating the force: Taking Laplace transforms, assuming initial condition to be zero, K+Cs=1 leading to the transfer function == The time-domain response becomes x(t)= The steady-state response using the final-value theorem: =s= According to the final-value theorem: Problem 3.4 Solution: 1.If the input is a unit step, then leading to, taking the inverse Laplace transform gives, as the steady-state output is said to have been achieved once it is within 1% of the final value, we can solute “t” like this, (the final value is 1) hence,