103 年 - 103 國立中山大學_碩士班招生考試_電機系(乙組)：控制系統#110068-阿摩線上測驗
103 年 - 103 國立中山大學_碩士班招生考試_電機系(乙組)：控制系統#110068
PROBLEM 1 (40%)
A DC motor drives a machine-tool spindle and workpiece, and its dynamic equation is described
where ω is the angular velocity in units of rad/s, I is the input current, and Tt is the external torque generated by the cutting forces acting on the workpiece. There is an input delay of 0.092 s. The motor's torque constant K is found to be 0.1 by referring to the motor data sheet; but the moment of inertia J and the damping ratio B are unknown. Temporarily removing the workpiece (i.e., Tz=0), and doing the frequency response test by sweeping the frequency of the input current I, we can obtain the Bode plot of the transfer function between input current I and angular velocity w, as displayed in Fig. 1.
Consider a system with the following unit step response y. Determine the poles and zeros of the system.
PROBLEM 3 (15%)
Assume the operational amplifier in Fig. 3 is ideal. Show that the transfer function for the circuit
can be written in the form
Determine the values of KP, KI, KD.
PROBLEM 4(30%) Answer the questions about the feedback system in Fig.4.