The speed control loop is: Motor Desired speed Ud + 10 Ge(s) 1+s Fg Wheel Chair...
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The speed control loop is: Motor Desired speed Ud + 10 Ge(s) 1+s Fg Wheel Chair Forward speed 1 u m.s+b Where ua is the desired forward velocity, u is the actual forward velocity, Fg is forward component of gravitational force due to the slope of the path, m is the combined mass of the chair and passenger, b is the combined damping coefficient due to drag and friction in the bearings and the Gc(s) is the controller. Investigation with a Proportional Controller, Gc(s) = K 1 2 Assuming the wheel chair is on level ground (Fg = 0) use simulink to determine the steady state error if K = 1, 10 and 100 given a unit step input (ua = 1m/s). If the wheel chair is on a downward slope (say Fg = IN) and the desired speed is 1m/s re-run the simulation to determine the steady state error with K = 1, and 10. Determine the open loop transfer function when chair is on level ground (Fg = 0). Hence plot the open loop Nyquist diagram and explain why the closed loop system will be stable assuming K is positive. Assuming K =1, what are the real and imaginary positions when = 0.1, 0.5 and 1 rad/s? Hence determine the gain, R, and phase shift, o, at these frequencies. Investigation with a Proportional + Integral Controller, Gc(s) = (Ks+Ki)/s 3 Determine the open loop transfer function when the chair is on level ground (Fg = 0) with a PI controller. The choice of K and Ki values is important. Plot the open loop Nyquist diagrams with the following controllers and select the controller that will give a stable closed loop response. Gonzo Growth Corporation has never paid a dividend, and will not pay one in the next year. However, in exactly two years, it plans to begin paying a dividend equal to 40% of its earnings at that time (i.e, the earnings at the end of year 2). Gonzo's earnings are expected to be $7.00 per share in the coming year, and it expects earnings to grow by 20% over the following year until the dividend is paid (i.e., from years 1 to 2). After it begins paying the dividend, Gonzo expects future growth to level off at 4% per year afterwards. Based on these assumptions, what dividends will Gonzo pay in the next three years? Note that you do not need to find the current stock price - all you have to calculate are the dividends D1, D2 and D3, to the nearest cent. Be sure to give your answer to only two decimal places (i.e. to the nearest cent). [Also note: You will not get full credit if you get the timing wrong. D1 is the dollar amount that will be paid in dividends per share in year 1. It's not the first positive dividend amount that will ever be paid - it's the amount, whatever it is, that will be paid in that specific year. Timing matters.] D1 = D2 = D3 = The speed control loop is: Motor Desired speed Ud + 10 Ge(s) 1+s Fg Wheel Chair Forward speed 1 u m.s+b Where ua is the desired forward velocity, u is the actual forward velocity, Fg is forward component of gravitational force due to the slope of the path, m is the combined mass of the chair and passenger, b is the combined damping coefficient due to drag and friction in the bearings and the Gc(s) is the controller. Investigation with a Proportional Controller, Gc(s) = K 1 2 Assuming the wheel chair is on level ground (Fg = 0) use simulink to determine the steady state error if K = 1, 10 and 100 given a unit step input (ua = 1m/s). If the wheel chair is on a downward slope (say Fg = IN) and the desired speed is 1m/s re-run the simulation to determine the steady state error with K = 1, and 10. Determine the open loop transfer function when chair is on level ground (Fg = 0). Hence plot the open loop Nyquist diagram and explain why the closed loop system will be stable assuming K is positive. Assuming K =1, what are the real and imaginary positions when = 0.1, 0.5 and 1 rad/s? Hence determine the gain, R, and phase shift, o, at these frequencies. Investigation with a Proportional + Integral Controller, Gc(s) = (Ks+Ki)/s 3 Determine the open loop transfer function when the chair is on level ground (Fg = 0) with a PI controller. The choice of K and Ki values is important. Plot the open loop Nyquist diagrams with the following controllers and select the controller that will give a stable closed loop response. Gonzo Growth Corporation has never paid a dividend, and will not pay one in the next year. However, in exactly two years, it plans to begin paying a dividend equal to 40% of its earnings at that time (i.e, the earnings at the end of year 2). Gonzo's earnings are expected to be $7.00 per share in the coming year, and it expects earnings to grow by 20% over the following year until the dividend is paid (i.e., from years 1 to 2). After it begins paying the dividend, Gonzo expects future growth to level off at 4% per year afterwards. Based on these assumptions, what dividends will Gonzo pay in the next three years? Note that you do not need to find the current stock price - all you have to calculate are the dividends D1, D2 and D3, to the nearest cent. Be sure to give your answer to only two decimal places (i.e. to the nearest cent). [Also note: You will not get full credit if you get the timing wrong. D1 is the dollar amount that will be paid in dividends per share in year 1. It's not the first positive dividend amount that will ever be paid - it's the amount, whatever it is, that will be paid in that specific year. Timing matters.] D1 = D2 = D3 =
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Related Book For
Foundations of Financial Management
ISBN: 978-1259024979
10th Canadian edition
Authors: Stanley Block, Geoffrey Hirt, Bartley Danielsen, Doug Short, Michael Perretta
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