IES3006 : Control Systems

SECTION A : ATTEMPT ALL PARTS OF THIS SECTION A1. (a) State the conditions for stability of a LTI system ________________________________ ___________________________________________________________________________ ___________________________________________________________________________ ________________________________________________________________________ [3] (b) Mark the following on the figure; tp = peak time, Mp = overshoot; ts = settling time. (c) Write down the transfer function y(s)/r(s) for this system.

+ _

G H

[3]

[3]

(c) Mark the crossover frequency and damped A2. (a) Write down the transfer function for a second order system in terms of its resonant frequency on this diagram. [2] natural frequency (n) and damping [3] Bode Diagram factor ().
0dB

(b) What is the high-frequency cut-off rate of a low-pass second order system in dB/decade? 10 15 40 60 [1]

A3. (a) State the Final Value Theorem (FVT) [3] (b) What use is commonly made of the FVT in control systems analysis? ___________________________________________________________________________ ___________________________________________________________________________ (c) The response of a tracking system lags a ramp input demand by a constant value. The system is : Type 0 Type 1 Type 2 [2] (d) What form of feedback would commonly be used to increase system type? Proportional Integral Derivative [2] REMEMBER TO TAG THIS SHEET TO YOUR ANWER BOOK

[3]

SECTION B : ATTEMPT ONE QUESTION FROM THIS SECTION B1. (a) The control system in Figure B1 has a position and rate feedback loop. When the rate loop is disconnected (no rate feedback), the response to a unit step at the reference input (r) is recorded as Figure B2. Estimate values for the parameters a1, K1 and K3 from the plot and 100 show that the position loop transfer function is approximately 2 . [10] s + 2.1s + 110

r + _

+ _

K1 s(s + a1)
rate loop

y
Figure B1

K2s s + a2 K3

position loop
1.6

1.4

1.2

0.09
y(t)
0.8

0.6

0.4

0.2

3 time (s)

Figure B2 (b) Obtain the closed loop transfer function y(s)/r(s) when both the position and rate loops are connected. [8] (c) The poles of this transfer function are found to be at -15.3 and (-8.4 j12.1). Deduce values for K2 and a2. [7]

B2. (a) Draw the open loop Bode plot for a plant with transfer function G ( s ) =

50 , using s (s + 50) asymptotic approximations, on the paper provided. State the gain and phase margins. Comment on the stability of a unit feedback closed loop system with G(s) in its forward path. [12]
2

(b) Figure B3 is the frequency response of a lead-lag compensator used to improve system response. Draw the open loop Bode plot of the combined plant and compensator. State the gain and phase margins. Comment on the stability of the compensated system in closed loop. [10]
Bode Diagram 60

55

Magnitude (dB) Phase (deg)

50

45

40 60

30

0 0 10

10

10 Frequency (rad/sec)

10

Figure B3 (c) What are the likely peak time and damping factor () for the compensated systems step response? [3]

+20 0

-20

-40 magnitude (dB) -60

-80 -100 -120 -140 -160 -180 1 10 frequency (rs-1) 100 1000

-80

-120

-160 phase (deg) -200 -240 -280 1 10 frequency (rs )

-1

100

1000

REMEMBER TO TAG THIS SHEET TO YOUR ANSWER BOOK IF YOU ATTEMPTED QUESTION B2

Table of Laplace Transforms

Number 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 F(s) 1 1/s 1/s2 2!/s3 3!/s4 m!/sm+1 1 s+a 1 ( s + a) 2 1 (s + a ) 3 1 ( s + a) m a s( s + a ) a 2 s ( s + a) ba (s + a)( s + b ) s ( s + a) 2 a2 s( s + a ) 2 (b a )s (s + a)( s + b ) a 2 s + a2 s 2 s + a2 s+a ( s + a) 2 + b 2 b ( s + a) 2 + b 2 a2 + b2 s[( s + a) 2 + b 2 ] f(t), t 0 (t) 1(t) t t2 t3 tm e-at te-at 1 2 at t e 2! 1 t m 1e at ( m 1)! 1-e-at 1 (at 1 + e at ) a e-at-e-bt (1 at )e at 1 e at (1 + at ) be bt ae at sin at cos at e at cos bt e at sin bt a 1 e at cos bt + sin bt b