自动控制理论第五章习题

第五章习题

E5.2 The engine,body,and tires of a racing vehicle affect the acceleration and speed attainable.The speed control of the car is represented by the model shown in FigureE5.2.(a)Calculate the steady-state error of the car to a step command in speed.(b)Calculate overshoot of the speed to a step command.

E5.3 For years,Amtrak has struggled to attract passengers on its routes in the Midwest,using technology developed decades ago.During the same time,foreign railroads were developing new passenger rail systems that could profitably compete with air travel.Two of these systems,the French TGV and the Japanese

Shinkansen,reach

speed

of

160

mph.The

Transrapid-06,a U.S. Experimental magnetic levitation train,is shown in Figure E5.3(a).

The use of magnetic levitation and electromagnetic propusion to provide contactless vehicle movement makes the Transrapid-06 technolog radically different from the existing Metroliner.The underside of the TR-06 carriage(where the wheel trucks would be on a conventional car)wraps around a guideway.Magnets on the bottom of the guideway attract electromagnets on the \it up toward the guideway.This suspends the vehicles about one centimeter above the guideway.

The levitation control is represented by Figure E5.3(b).(a)using Table 5.6 for a step input,select K so that the system provide an

optimum ITAE response.(b)Using Figure5.3 determine the expected overshoot to a step input of I(s).

E5.5 A low-inertia plotter is shown in Figure E5.5(a).This system may be represented by block diagram shown in Figure E5.5(b).

(a)Calculate the steady error for a ramp input.

(b)Select a value of K that will result in zero overshoot to a step input.Provide the most rapid response that is attainable.

Plot the poles and zeros of the system and discuss the dominance of the complex poles.What overshoot for a step input do you expect?

E5.6 Effective control of insulin injection can result in better lives for diabetic persons.Automatically controlled insulin jection by means of a pump and a sensor that measures blood sugar can be very effective.A pump and injection system has a feedback control as shown in Figure E5.6.Calculate the suitable gain K,so that the overshoot of the step response due to the drug injection is approximately 7%.R(s) is the desired blood-sugar level and Y(s),is the actual blood-sugar level.

Figure E5.6

E5.8 A unity negative feedback control system has the plant transfer function