CONFIDENTIAL

EM/APR 2010/KJM597

UNIVERSITI TEKNOLOGI MARA FINAL EXAMINATION

COURSE COURSE CODE EXAMINATION TIME

: : : :

CONTROL SYSTEMS KJM597 APRIL 2010 3 HOURS

INSTRUCTIONS TO CANDIDATES 1. 2. 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. 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 8 printed pages
Hak Cipta Universiti Teknologi MARA CONFIDENTIAL

CONFIDENTIAL

EM/APR 2010/KJM597

QUESTION 1 a) Briefly discuss the following. Marks will be based on your fundamental understanding of control systems: i) ii) Name 2 (two) benefits of including an integral element in a feedback controller. A system with 3 poles and no zeros would exhibit what slope in the Bode magnitude plot at the low frequency limit and at the high frequency limit? (5 marks)

b)

A ball has been placed on a beam as shown in Figure Q1(b), where it is allowed to roll with 1 degree of freedom along the length of the beam. A lever arm is attached to the beam at one end. The lever arm is also attached to a servo driven gear. As the gear is driven by a servo turns by an angle 9, the lever changes the angle of the beam by a. When the beam angle a is changed from the horizontal position, gravity causes the ball to roll along the beam at a distance r from the lever contact point.

Servo driven Gear

Figure Q1(b) The constants and variables for this example are defined as follows:

Mass of the ball m = 0.111 kg Radius of the ball B= 0.015 m Lever arm offset d = 0.030 m Gravitational acceleration g = 9.8 m/s2 Length of the beam L= 1.000 m Ball's moment of inertia J = 9.99e-6 kgm2 Where r = Ball position coordinate a = Beam angle coordinate 6- Servo gear angle
Hak Cipta Universiti Teknologi MARA

CONFIDENTIAL

CONFIDENTIAL

EM/APR 2010/KJM597

The equation of motion for the ball is given by the following: 0 = j + m \r + mgsir\(a)-mr(d)1

If ball's position rand gear angle 6 axe the output and input respectively, answer the following questions: i) Find the Transfer function of the system. Given that the relationship between beam angle a and gear angle 6>can be approximated as: n a = 0 L State any assumptions made for this system dynamics. (15 marks)
d

ii)

QUESTION 2 a) The questions below are related to basic control actions and PID tuning. i) The ZN step response design rules do not always produce a satisfactory controller. Give two (2) reasons for this. Noise typically attenuated at higher frequency. Suggest which of the three controller in a PID controller should be used for noise measurement. (5 marks)

ii)

b)

Consider the feedback control system in Figure Q2(b)(i) with its high frequency range is shown in Figure Q2(b)(ii).

Hak Cipta Universiti Teknologi MARA

CONFIDENTIAL

CONFIDENTIAL

EM/APR 2010/KJM597

Uyquist Diagram
r i i i i

c,s
C.i

C.2

_
-C.2

" "" r " " " " "

\

-C.i

V^_

-C

__L
.. _ l

y
I .
i i

J
i

.r. s
-1

-1_

-C.8

-D,

-C.'

-0.2

CA

0.S

C.8

-1

Real Axis

Figure Q2(b)(i)

tiyquist Diagram
i r r

0.1

0.0E h

9
E

S.steT G2b Pea -CCi:? rag -C CCCc?; c recuepc, iraa sec ? 3c J

. {

-G.lt

-C 1

-COt Real Axis

Figure Q2(b)(ii)

Hak Cipta Universiti Teknologi MARA

CONFIDENTIAL

CONFIDENTIAL

EM/APR 2010/KJWI597

Answer the following: i) Determine the PID controller parameters (Kp, Tj, Td) using Ziegler-Nichols tuning method. You may useKp=0.6Ku, T,=0.5T andTd =0.1257;. Determine the transfer function of the PID controller based on the parameters in part

ii)

(0-

(15 marks)

QUESTION 3 a) Consider the unity gain feedback system with a transfer function is given by:

G(J) = -

(s + 2)(s + 4)

) i) ii)

What do you expect the gain margin of the system. What range of K for which the system is stable. Show by using Nyquist stability criterion whether the system is stable in a closed loop. (5 marks)

b)

The Bode plot of a unity feedback control system is as shown in Figure Q3(b).
Bode Diagram

-20

13

-40

-60

-80 o

-90

-180

-270 10 10 Frequency (rad/sec) 10 10'

Figure Q3(b)
Hak Cipta Universiti Teknologi MARA

CONFIDENTIAL

CONFIDENTIAL

EM/APR 2010/KJM597

From the diagram, determine the following: i) ii) Determine the DC gain of the open loop system. Locate the phase cross over and the gain cross over points and write down their frequencies. Calculate the Gain and Phase margins of the system, Determine the range of K where the system is stable. (15 mark)

iii) iv)

QUESTION 4 a) Compare the choice of using transfer function and state space mode in control systems. (5 marks) The state space equation of a control system is as given below.
X,

b)

' 1

1"

X,
-X2_

V u,
0

~x,(0)~ x 2 (0)

V
0

and

_x2 _

_-3

-2_

y = [i o] y J
Obtain the response y(t) of the above system if a unit step u(t) is applied at t =0, (15 marks)

Hak Cipta Universiti Teknologi MARA

CONFIDENTIAL

CONFIDENTIAL

EM/APR 2010/KJM597

QUESTION 5 a) Consider the Nyquist diagram of an electro-mechanical system and controller as shown in Figure Q5(a).

Nyquist Diagram
C* I rr* 71 1 1 I 1 1 r~ T

-i dfi

,6 <JB

-10 dB

-0.3

-0.2

-C.I

0.1 Real Axis

0 2

0 3

Figure Q5(a) From the Nyquist plot would it be adequate to model with a second order model and why? (5 marks)

Hak Cipta Universiti Teknologi MARA

CONFIDENTIAL

CONFIDENTIAL

EM/APR 2010/KJM597

b)

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=10, i) ii) sketch a Bode plot by showing clearly the crossover frequencies, calculate its gain margin in dB and the range of stability for gain K. (15 marks)

R(s)

>

(Q + s) s(2 + s)(20 + s)

t C(s) v.

Figure Q5(b)

END OF QUESTION PAPER

Hak Cipta Universiti Teknologi MARA

CONFIDENTIAL