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D R 八F T
Q4
a
)
St a t e t h e
ge n er a l e u ati
q
o n th a t de s c r i b
e s the F o u r ie r
u po n th
e Fo u r ie
r tr a n s f
o rm s
pu r po
tr an sfo
1m
an
d
en t
c o –
se
14
b)
A
c e r ta i n f
u n c tio n o f
t i m e c a n b e d e s c r ib e d b y
Fo w ier tr a n f
s o rm
f o r t h e f u n c t i o n (a s s u m e t h a t
m a gn it u de a n d
pha se
f (t )
A 2″
d
o r
der
m a ss spr in
g da m pe r
Y
x
th e
f o l l o w i n g D e r iv e
t> o) e x p r e s s e d i n t e r m
th e
s
e
14
sy st e m
l
c an
m ar
k s]
i
b e de s c r ib e d by t h e fo ll o w n g
k
(S )
=
2
m s
I) E x pr e s s t he tr a n s fe r f u n c tio n in
da m p in g r a tio
+
bs
+
k
t u r a l fr e qu
d
t er m s o f u n da m pe n a
en c
an
y
16
d
m ar
t h e fr e qu e n c y
d e l o p e d i n Q4 c ) I ) i n t o
i i ) T r a n s f o r m t h e t r a n s f e r f u n c ti o n e v
st e m
d h a s e e qu a ti o n s f o r t h e s y
d o m a in a n d de v e l o p m a gn it u de a n p
7 m
1
f 2k g
da m pin g
d a
f f i c i e n t (b ) o f 4 0 N s / m a n
f o m 20
t e st u po n t he sy st e m r
coe
i i i ) U s in g a m a s s ( )
f
u en c y r e spo n se
k
o f 1 per fo r m a r e q
i
n
a
)
(
g
h th e
d/ s i n c r e m e n t s a n d s k e t c
t o 10 0 r a d / s i n 2 0 r a
m
,
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o
f
o
4t
6
=
m ark s
,
a
k s】
ar
ks]
,
r e su
r a dl s
lt s
14
m ar
ks]
D RA FT
‘
E x p l a in t h e r e l e v a n c e
im p u ls e r e sp o n s e o f a
Q3
b)
Pr o du
p r o du
c
)
A
c e a s k e tc
c e s ta
sy s te m
ble
,
h
o
f the K
o
u n
ble
r e sp o n s e c a n
k e r de lta
D
er iv e
the
s
do m
a in
he n
h in
e st a b l is
an
it
d
g the
[3
c ir c le
o sc
an
d
c le ar
il la to r y
tr a n s fe r
ly d e f in
sy ste m
b e d e f i n e d i n th e t i m
e
I)
w
sy s te m
f th e
u n sta
ron ec
fu n c tio n
e
co s
D 1n c t i o n f o
r
e
p o le lo
ca
tio n s w
r e sp o n s e s
do m
a in
hic h
[3
z er o s
f o r th e
sy stem
an
w
ks]
ill
m ar
ks]
m ar
ks]
m ar
ks]
by t h e fo l l o w in g
6t
th e sy s te m
[6
i i) C a l c u l a t e th e o l
p e
m ar
d p r o du
c e a
po le
z ero
p lo t
[8
i ii) W r i te M A T L A B
c o de t o c o n s tr u c t a n
s do m a in t r a n s f e r f u n c t i o n f
o r th e
sy s te m der iv e d i
n Q3 c ) I ) Y o u r c o d
e sho u ld c a lc u l a t e a n d
,
plo t the p o le z e r o s
f o r th e s y s t e m A d d i t i
o n a l ly y o u r c o de sh
o u ld c a lc u l a t e a n d
,
p lo t the ste p an d
im p u l s e r e s o n s e s o f th
p
e sy stem
o n a s in g l e
plo t o v e r a p e r io d o f 2 s A dd
c o m m e n ts to e a c h li
n e o f c o de to e x la i
n th e ir o e r a t i o n
p
p
[5
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m ar
k s]
…
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