学年硕士班考试机械所自动控制试题.PDFVIP

92 學年度碩士班考試機械所自動控制試題 1. (20% total) A “system identification” was performed on the system described in the Figure 1. It is found that the impulse response (i.e., with impulse input) of this linear system is y (t) 5 −4e −t +3te−5t . Determine the transfer function, G(s). r G(s) y Figure 1 1 2. (30% total) Given G(s) , design a PID controller, G (s), with gains K , K , C P I 2 s and KD , respectively, and answer the following questions. The block diagram is shown in the Figure 2. (a) (5%) Can the system be asymptotically stabilized with K = K = 0? Why? I D (b) (5%) “A PD controller typically adds damping to the system ” Is this statement valid? Why? (c) (10%) Determine G (s) if K / K = 11, K / K = 10, and K = K. Draw the C P D I D D root locus of the open-loop system 1+ K GC(s) G(s) = 0. (d) (5%) Find the closed-loop transfer function of the system with the PID controller in Part (2c). Take KD = K = 1. (e) (5%) Find the steady-state errors of the PID control system in Part (2d) due to step and ramp inputs, respectively. R(s) + Σ G (s) G(s) C(s) C _ Figure 2 3. (25% total)Find the transfer function, X3(s)/F(s), for the s