Assignment 3 Solutions for Microprocessor Based Control System I | MEM 458, Assignments of Mechanical Engineering

Material Type: Assignment; Class: Micro-Based Control Systems I; Subject: Mechanical Engr & Mechanics; University: Drexel University; Term: Winter 2008;

Typology: Assignments

Pre 2010

Uploaded on 08/19/2009

koofers-user-n63
koofers-user-n63 ๐Ÿ‡บ๐Ÿ‡ธ

8 documents

1 / 6

Toggle sidebar

This page cannot be seen from the preview

Don't miss anything!

bg1
MEM458 Chirag Jagadish
Assignment 3 solutions 11/3/2008
1 of 6
Assignment 3 Solutions
1)
a)
0.5 0,1,2,3...........
() 0 else
kk
xk
๏ƒฌ
๏ƒผ
=
=
๏ƒญ
๏ƒฝ
๏ƒฎ๏ƒพ
Z transform for the above can be found in series form using the basic definition of Z
transform as shown below.
0
122
0
12
() ()
0.5 1 (0.5) (0.5) ...........
1 0.5 0.25 ..............
k
k
kk
k
XZ xkz
zzz
zz
โˆž
โˆ’
=
โˆž
โˆ’โˆ’โˆ’
=
โˆ’โˆ’
=
==+++
=+ + +
๏ƒฅ
๏ƒฅ
In the closed form the above can be represented using the summation formula as below
2
1
1
1
1 ..... is the summation to formula
1
but in out case 0.5
1
() 1 0.5 0.5
xx x
xz
z
XZ zz
โˆ’
โˆ’
++ + = โˆž
โˆ’
=
โˆด= =
โˆ’โˆ’
b) Plotting done in MATLAB. The plot of
()
x
k is
pf3
pf4
pf5

Partial preview of the text

Download Assignment 3 Solutions for Microprocessor Based Control System I | MEM 458 and more Assignments Mechanical Engineering in PDF only on Docsity!

Assignment 3 solutions 11/3/

Assignment 3 Solutions

a)

0.5 0,1, 2,3........... ( ) 0 else

k (^) k x k

Z transform for the above can be found in series form using the basic definition of Z transform as shown below.

0 1 2 2 0 1 2

k k k k k

X Z x k z

z z z

z z

โˆž โˆ’ = โˆž โˆ’ โˆ’ โˆ’ = โˆ’ โˆ’

๏ƒฅ

๏ƒฅ

In the closed form the above can be represented using the summation formula as below

2

1

1

1 ..... is the summation to formula 1 but in out case 0. 1 ( ) 1 0.5 0.

x x x x z z X Z z z

โˆ’

โˆ’

b) Plotting done in MATLAB. The plot of x ( k )is

Assignment 3 solutions 11/3/

Plot of the delayed function x k ( โˆ’ 3 ) is shown below.

c) Using the real shifting property of the Z transform we get,

( ) (^ )

0

0

0

3

2

where

but

3

k k k n (^) n k n m m n

Z f k n f k n z

f k n z z

z f m z k n m

z F Z

Z x k z F Z z F Z z z Z x k z

โˆž โˆ’ = โˆž (^) โˆ’ โˆ’ โˆ’ = โˆž โˆ’ โˆ’ = โˆ’

โˆ’

โˆ’

๏ƒฅ

๏ƒฅ

๏ƒฅ

d) The given system is described as y k ( ) = 2 x k ( โˆ’ 3 ).

Taking Z transform on both sides we get

Y ( Z ) = 2 z โˆ’^3 X ( Z )

Assignment 3 solutions 11/3/

The numbers at the sampling instances are tabulated in the table below.

0 1 1 0. 2 0. 3 0. 4 0. 5 1 6 0. 7 0. 8 0. 9 0. 10 0 11 0

b)

The discrete version of the function x t ( ) = e โˆ’^2 t + e^ โˆ’^2 (^^ t โˆ’^5 )^ u t ( โˆ’ 5 )can be written as

( )

x k ( ) = e โˆ’^2 kT + e^ โˆ’^2^ k^ โˆ’^5 Tu k โˆ’ 5 where T is the sampling time. Taking Z transform of the

expression above produces the closed form representation of the number sequence.

( )

4 2 T 2 T

z z

X Z

z e z e

โˆ’

5 2 2 4 2

Taking 1 we get

( )

T

z z X Z z z e z e z z X Z z e

โˆ’ โˆ’ โˆ’ โˆ’ โˆ’

a) Final value theorem states that

1

1

lim ( ) lim( 1) ( )

Applying final value theorem to ( ) we get

( ) 1

lim ( ) lim 1 1 As z tends to 1 the above function tends to 0 the final value can be said to be 0

k z

k z

e k z E Z

X Z z X Z z z e k z z

โ†’โˆž โ†’

โ†’โˆž โ†’

Assignment 3 solutions 11/3/

b) Inverse Z transform of the above function can be taken to get the discreet time domain function after which the final value theorem can be applied to that function. The working is as shown below.

1

When 1, we get

1 1

1 ( ) 1 Applying final value theorem to the above function we get lim ( ) lim 1

The above limit does not tend toward 0 as k increases to. Rathe

k

k

k

k k k

z Z a z a a z Z z z Z x k z

x k

โˆ’

โ†’โˆž โ†’โˆž

r it oscillates between -1 and +1.

This inconsistency is due to the fact that the Z transform does not converge for the value of -1.

0 0 1 0 1 1

1

In the above function the magnitude of the term 1 must be less than 1

1 1

1 1

1

k k k k k k k k k

Z a a z

z z z z z z

โˆž (^) โˆ’

= โˆž โˆ’ = โˆž โˆ’ = โˆ’ โˆ’

For values of z > -1 the z transform converges And For values z < -1 it diverges For z = -1 it oscillates as obtained above.