QUATION: From the system below, determine:

(a). Block diagram

(b). Closed transfer function with vi as input variable and x as output variable.
(c). Function x(t )

v o k b

x
R 3
M
R2 R 4
f (t )
R
1
vf _
N
vi + vs R L C
R
1
S
R
2

Solution:

vs R3 L C eb

i
KVL in RLC circuit
di 1
v s = iR + L + ∫ idt + eb , eb is a back emf Markah 1
dt C
Back emf effect of x displacement
dx
eb = K 1 , K1 is a constant and x is the mass (M) position
dt
Electromagnetic force generate by solenoid t
f (t ) = K 2 i , K 2 is a constant
Laplace form equation (3) is
F (s) = K 2 I (s) Markah 1
Substitution equation (2) into equation (1):
di 1 dx
v s = iR + L + ∫ idt + K 1 Markah 1
dt C dt
Laplace form of equation (5)
 1
Vs ( s) = LsI ( s) + RI ( s ) + I ( s ) + K 1 sX ( s)
Cs
 CLs 2 + RCs + 1 
Vs ( s) =   I ( s) + K 1 sX ( s ) Markah 1
 Cs 

Force related with mass M

kX (s ) b s X (s )

M s 2 X (s)

F (s)
f (t ) = Mx + bx + kx Markah 1
Laplace form of equation (7)
F ( s ) = Ms 2 X ( s) + bsX ( s) + kX ( s )
F ( s ) = ( Ms 2 + bs + k ) X ( s ) Markah 1
Equation (4) = equation (8), therefore
K 2 I ( s) = ( Ms 2 + bs + k ) X ( s )
Then
( Ms 2 + bs + k )
I (s) = X ( s) Markah 1
K2
Substitution equation (9) into equation (6):
 CLs 2 + RCs + 1  Ms 2 + bs + k 
Vs ( s) =   X ( s)  + K 1 sX ( s)
 Cs  K2 
 (CLs 2 + RCs + 1)( Ms 2 + bs + k ) 
Vs ( s) =   X ( s ) + K 1 sX ( s )
 K 2 Cs 
  (CLs 2 + RCs + 1)( Ms 2 + bs + k )  
Vs ( s) =    + K 1 s  X ( s )

 K 2 Cs  
Open loop transfer function
X (s) K 2 Cs
= Markah 2
Vs ( s) (CLs + RCs + 1)( Ms 2 + bs + k ) + K 1 K 2 Cs 2
2

Feedback voltage
 R3
vf = vo Markah 1
R3 + R4
Laplace form
R3
V f (s) = Vo ( s ) Markah 1
R3 + R4
Op-amp has function as comparator and gain
R
v s = 2 (vi − v f ) Markah 1
R1
Laplace form equation (13)
R
Vs ( s) = 2 (Vi ( s) − V f ( s ))
R1
(a) Block diagram of system is Markah 4
V s(s)
V i(s )
R K 2C s X (s)
+ 2
(C L s + R C s + 1)(M s 2 + b s + k ) + K 1K 2C s
2 2
_ R 1

V (s)
f

R3
R3 + R 4

(b) Then the closed loop transfer function is

R2 K 2 Cs
X (s) R1 (CLs + RCs + 1)( Ms 2 + bs + k ) + K 1 K 2 Cs 2
2
=
Vi ( s ) R K 2 Cs R3
1+ 2
R1 (CLs + RCs + 1)( Ms + bs + k ) + K 1 K 2 Cs R3 + R4
2 2 2

R2
K 2 Cs
X (s) R1
= Markah 4
Vi ( s ) R R3
(CLs + RCs + 1)( Ms + bs + k ) + K 1 K 2 Cs + 2
2 2 2
K 2 Cs
R1 R3 + R4

(c) Function x in time with vi as input

 R R3  R 
X ( s ) (CLs 2 + RCs + 1)( Ms 2 + bs + k ) + K 1 K 2 Cs 2 + 2 K 2 Cs  = Vi ( s ) 2 K 2 Cs 
 R1 R3 + R4   R1 
(CLM ) s X ( s) + (bCL + CMR ) s X ( s ) + (ckL + bCR + M + K 1 K 2 C ) s X ( s )
4 3 2

R2 R3 K 2 C R 
+ (CkR + b + ) sX ( S ) + kX ( s ) = Vi ( s ) 2 K 2 Cs  Markah 2
R1 ( R3 + R4 )  R1 
 d 4x d 3x d 2x
kx(t ) = −(CLM ) − (bCL + CMR ) − ( ckL + bCR + M + K K
1 2 C ) +
dt 4 dt 3 dt 2
R R K C dx  R 
(CkR + b + 2 3 2 ) +  2 K 2 C vi (t ) Markah 1
R1 ( R3 + R4 ) dt  R1 

(CLM ) d 4 x (bCL + CMR ) d 3 x (ckL + bCR + M + K 1 K 2 C ) d 2 x

x(t ) = − − − −
k dt 4 k dt 3 k dt 2
R R K C dx  R 
(CkR + b + 2 3 2 ) +  2 K 2 C vi (t ) Markah 2
R1 ( R3 + R4 ) dt  R1 