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EM/OCT 2009/KJM597

UNIVERSITI TEKNOLOGI IMARA FINAL EXAMINATION

COURSE COURSE CODE EXAMINATION TIME

CONTROL SYSTEMS KJM597 OCTOBER 2009 3 HOURS

INSTRUCTIONS TO CANDIDATES 1. 2. 3 This question paper consists of five (5) questions. Answer ALL questions in the Answer Booklet. Start each answer on a new page. Do not bring any material into the examination room unless permission is given by the invigilator. 4. Please check to make sure that this examination pack consists of: i) ii) iii) the Question Paper an Answer Booklet - provided by the Faculty a Graph Paper - provided by the Faculty

DO NOT TURN THIS PAGE UNTIL YOU ARE TOLD TO DO SO

This examination paper consists of 9 printed pages
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QUESTION 1 a) Briefly discuss the following. Marks will be based on your fundamental understanding of control systems: i) ii) The step response of a dynamic system is observed to exhibit an overshoot. What is a minimum number of poles for the system to have overshoot? The Frequency Response function of a plant is plotted in the Bode diagram. The phase starts at 180 degrees (DC limit) and finishes at -270 degrees (high frequency limit). What can you say about the number of zeros and poles? (5 marks)

b)

You are appointed as an engineer for a company that makes lab equipment. One of the product range is a Micro Centrifuge typically used in life sciences labs as shown in Figure Q1(b). The main driver is a DC motor through a high gearbox ratio.

Figure 0.1(b)

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The differential equations describing the system dynamics are given by the following equations:

m + bSl = T Li + Ri + e = V
The torque generated by the motor is given by T = Kti and the back emf is related to the rotational velocity by the following expression
e =

KeQ.

where Ke is the electromotive force constant of the motor Kt is the torque constant of the motor J is the moment of inertia of the motor, gearbox and rotor b is the damping of the rotational system T is the torque applied to the rotational system fi is the angular speed of the motor L is the electric inductance of the motor R is the electric resistance of the motor V is the voltage applied to the motor i is the current through the motor e is the back emf generated by the motor If V and U are the input and output respectively, answer the following questions: i) ii) iii) iv) Obtain the Laplace transform of the above equations, Draw the individual block diagram for each equation, Connect all block diagrams to form a complete system, Reduce the block diagram to a single transfer function. (15 marks)

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QUESTION 2 a) Given the following graph, identify and state whether the system is stable, unstable or marginally stable. Give example of transfer function for each of the graph.
K10* 2 Step Response

15

| | | I&

* -5

| | jr t

-AS

TITH
i : i i i !
12

i
13

i
M 15

Tine (sec)

Figure Q2(a) (5 marks)

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b)

Consider the feedback control system in Figure Q2(b): Hwrcm*>

Input Force

D*
i

PB)

*>

1 s

t> "

1 s

I I
Scope

PID Controller

Integrator

Integrator!

Damping ratio constant

Spring stiffness constant

Figure Q2(b)(i)

Step Response 2.5

1 -

0.5 -

-a.:
-1

0.5

1.5
Time (sec)

2.5

3.5

Figure Q2(b)(ii) Answer the following: i) ii) Determine the transfer function of the open loop Plant only from Figure Q2(b)(i) The step response obtained from the scope is shown as in Figure Q2(b)(ii). Determine the PID controller parameters (Kp, Tj, Td) using Ziegler-Nichols tuning method. You may use Kp = 1.2/a, T; = 2L and Td = L/2. Determine the transfer function of the PID controller based on the parameters in part (ii) (15 marks)

iii)

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QUESTION 3 a) Consider the following two open loop systems. Based on the Nyquist diagram in Figure Q3(a) determine whether the system would be stable in a close loop. You may use Nyquist Stability Criterion to aid you to find the solution. Plant (i) G(s) = 5(s - 3)

( - ! ) ( * + 4)
Nyquist Diagram

Figure Q3(a)(i) Plant (ii) comprised of plant (i) with a PI controller G(s)

5(s-3) s +2 x s ( * - ! ) ( * + 4)
Nyquist Diagram

4dB 6dB"'-.. 0.5 \ ; /'

10_dB"--.>.'', | ,' / . - ' - 1 0 ,

, '2o'dB-. v..:;'' .-lofia

f'
S -0.5 -1

-1.5
-2

-2.5 5 -1

-1

-0.5

0.5

1.5

2.5

Real Axis

Figure Q3(a)(ii) (5 marks)

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EM/OCT 2009/KJM597

The Nyquist plot of a unity feedback control system is as shown in Figure Q3(b). The K transfer function of the system is given as G(s) , r-. rr-. From the diagram, phase s(s + a)(s + b) margin (PM) is 6.51 and gain margin (GM) is 2.01 dB while the crossover frequencies are at 5.96 rad/s and 6.71 rad/s respectively. Using the values obtained from the plot, determine: i) ii) iii) iv) the value a and b in the transfer function. the gain margin in dB. the value of magnitude gain K. the maximum gain value K for the system to be in stable region.

Nyquist Diagram 2
i i i i i

1.5

,_ - - - ~ - - , ^ /
l

0.5 '

^~"

v.

.J I

I -0.5
-1

- /

"

w "

-1.5

-1.5

0 Real Axis

Figure Q3(b) (15 marks)

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CONFIDENTIAL QUESTION 4 a) Discuss the advantages of using

EM/OCT 2009/KJM597

state

space

model

in

control

systems. (5 marks)

b)

A system dynamics of an electromechanical plant can be modelled by the following state matrix equation:
i

i
J

A
J

+
J L

n=[o

+ 0.V

Determine whether the system is controllable or observable with the following given parameters:
R = l.OOhm L = 0.5H K = O.OlNm/Amp J = 0.01 Kg.m 2 /s 2 6 = 0.lNms

Obtain the response Cl(t) of the above system if a unit step u(t) is applied at t =0. (15 marks)

QUESTION 5 a) Consider the open loop Bode amplitude plot shown below. From what angle would you expect the corresponding Nyquist plot to approach the origin, and why?
Bode Diagram

50
r >

^ ^ ^

'TVI

-r

m o

! ! i
| |;

-60dB/deeade -

i
10 Frequency (rad?sec)

i
10

i
10

Figure Q5(a)

(5 marks)

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EM/OCT 2009/KJM597

Figure Q5(b) shows a second order plant with a first order feedback transfer function, with R(s) as the input and C(s) as the output. If K=250, i) ii) Sketch a Nyquist plot by showing the plot crossing points of real and imaginary axes and its magnitude at frequency of 0 to . Calculate its gain margin in dB and the range of stability for gain K. (15 marks)

R(s)

C(s)
2K
(s + 5)(s + 9)

Figure Q5(b)

END OF QUESTION PAPER

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