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Problem 1. A very interesting and useful velocity control system has been designed for a wheelchair control system.

This wheelchair is made to enable people paralyzed from head to neck down to drive themselves about in motorized wheelchair. A proposed system utilizing velocity sensor mounted in a headgear is shown in Figure 1. The headgear sensor provides an output proportional to the magnitude of the head movement. There is a sensor mounted at 900 intervals so that forward, left, right and reverse can be and commanded. Typical values of time constants are . 1. Determine the limiting gain K=K1K2K3 for a stable system 2. Determine the value of gain that results in a system with a settling time of 4 s (to within 2% of the final value of the system).

Desired velocity

Velocity

Figure 1

Problem 2. A feedback control system has characteristic equation.

s 3 + (1 + K ) s 2 + 10s + ( 5 + 15K ) = 0
The parameter K must be positive. What is the maximum value K can assume before the systems becomes unstable? When K is equal to the maximum value, the system oscillates. Determine the frequency of oscillation? Problem 3. As the controls engineer, you have formulated a block diagram as above for a machining process that uses an amplifier with variable gain K. You would like to conduct stability analysis on the process and other calculations. Determine The value of K that would place a complex pair of closed loop poles on the axis and one real pole as shown above The steady state value Css due to a ramp r(t) = 5t

Problem 4. A system has a closed loop model that is expressed as d4y d3 y d2 y dy + 8 + 17 + 10 + Ky = Kf (t ). 4 3 2 dt dt dt dt Assuming all initial conditions are zero. Determine The value of K for absolute stability of the plant The frequency that the system would oscillate at marginal stability

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