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Final Exam January 2013

Final Exam January 2013

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Published by Luqman Haqeem Nazam

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Published by: Luqman Haqeem Nazam on Nov 09, 2013
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 CONFIDENTIAL
 
Document No : UniKL MFI_SD_AC41 Revision No: 02 Effective Date: 01 December 2008
SET B
 
UNIVERSITI KUALA LUMPUR Malaysia France Institute FINAL EXAMINATION JANUARY 2013 SESSION
SUBJECT CODE : FAB30803 SUBJECT TITLE : CONTROL SYSTEMS LEVEL : BACHELOR TIME / DURATION : 3 HOURS DATE : 10 May 2013 INSTRUCTIONS TO CANDIDATES
1. Please read the instructions given in the question paper CAREFULLY. 2. This question paper is printed on both sides of the paper. 3. Please write your answers on the answer booklet provided. 4. Answer should be written in blue or black ink except for sketching, graphic and illustration. 5. This question paper consists of SIX (6) questions. Answer FIVE (5) questions only. 6. Answer all questions in English.
 
7. The semilog paper and Nichol’s chart are appended.
THERE ARE 6 PAGES OF QUESTIONS AND 1 PAGE OF APPENDIX, EXCLUDING THIS PAGE.
 
 JANUARY 2013 CONFIDENTIAL FAB30803 CONTROL SYSTEMS
1
Question 1
(a) Give
four (4)
 primary reasons to build a control system. (4 marks) (b) An industrial robot arm for welding large structure is shown in
Figure 1
. Sketch a block diagram of a closed-loop feedback control system for accurately controlling the location of the weld tip. Name all components in each block diagram. (4 marks)
Figure 1
: Industrial robot arm for welding (c) An electro-mechanical positional servomechanism is shown in
Figure 2
. The DC motor is configured as field controlled. The following parameters and variables are defined:
 = input and output potentiometer constant,
 = 0.05 V/°.
 A
 = differential amplifier gain,
 A
= 40 V/V.
 = field coil resistance,
f
= 0.1 Ω.
 
= motor torque constant,
 
= 0.1 Nm/A.
n
 = speed reduction gearbox constant,
n
 = 5.
m
 = inertia of the motor shaft,
m
 = 0.1 Nms
2
.
D
m
 = damping constant due to friction at motor shaft,
D
m
 
= 0.4 Nms. i. Write all the related equations of the system and draw the corresponding block diagram. (8 marks) ii. Draw the overall block diagram of the system. (2 marks)
 
 JANUARY 2013 CONFIDENTIAL FAB30803 CONTROL SYSTEMS
2
iii. Determine the overall transfer function,
)()(
 s s
io
θ θ 
from the overall block diagram of the system. (2 marks)
Figure 2
: Electro-mechanical positional servomechanism.
Question 2
(a) Obtain the transfer function,
)()(
 s R s
for the block diagram of a system shown in
Figure 3
 by using block diagram reduction technique. (10 marks)
Figure 3
: The block diagram of a system.

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