Problems On Mechanical Systems

EC 2255 CONTROL SYSTEMS
3003
AIM
To familiarize the students with concepts related to the operation analysis and
stabilization of control systems
OBJECTIVES
To understand the open loop and closed loop (feedback ) systems
To understand time domain and frequency domain analysis of control systems
required for stability analysis.
To understand the compensation technique that can be used to stabilize control
systems
1. CONTROL SYSTEM MODELING 9
Basic Elements of Control System Open loop and Closed loop systems - Differential
equation - Transfer function, Modeling of Electric systems, Translational and rotational
mechanical systems - Block diagram reduction Techniques - Signal flow graph
2. TIME RESPONSE ANALYSIS 9
Time response analysis - First Order Systems - Impulse and Step Response analysis of
second order systems - Steady state errors P, PI, PD and PID Compensation, Analysis
using MATLAB
3. FREQUENCY RESPONSE ANALYSIS 9
Frequency Response - Bode Plot, Polar Plot, Nyquist Plot - Frequency Domain
specifications from the plots - Constant M and N Circles - Nichols Chart - Use of
Nichols Chart in Control System Analysis. Series, Parallel, series-parallel Compensators
- Lead, Lag, and Lead Lag Compensators, Analysis using MATLAB.
4. STABILITY ANALYSIS 9
Stability, Routh-Hurwitz Criterion, Root Locus Technique, Construction of Root Locus,
Stability, Dominant Poles, Application of Root Locus Diagram - Nyquist Stability Criterion
- Relative Stability, Analysis using MATLAB
5. STATE VARIABLE ANALYSIS & DIGITAL CONTROL SYSTEMS 9
State space representation of Continuous Time systems State equations Transfer
function from State Variable Representation Solutions of the state equations Concepts of Controllability and Observability State space representation for Discrete
time systems. Sampled Data control systems Sampling Theorem Sample & Hold
Open loop & Closed loop sampled data systems.
TOTAL : 45 PERIODS
TEXTBOOK:
1. J.Nagrath and M.Gopal, Control System Engineering, New Age International
Publishers, 5th Edition, 2007.
2. M.Gopal, Control System Principles and Design, Tata McGraw Hill, 2nd
Edition, 2002.
REFERENCES:
1. Benjamin.C.Kuo, Automatic control systems, Prentice Hall of India, 7th
Edition,1995.
2. M.Gopal, Digital Control and State Variable Methods, 2nd Edition, TMH, 2007.
3. Schaums Outline Series,Feedback and Control Systems Tata McGrawHill, 2007.
4. John J.Dazzo & Constantine H.Houpis, Linear control system analysis and
design, Tata McGrow-Hill, Inc., 1995.
5. Richard C. Dorf & Robert H. Bishop, Modern Control Systems, Addidon
Control system modelling
Control system1
Wesley, 1999.
1
Control system2
1. What is control system?

A system consists of a number of components connected together to
perform a specific function . In a system when the output quantity is
controlled by varying the input quantity then the system is called control
2. What are the two major types of control system?

The two major types of control system are open loop and closed loop
3. Define open loop control system.

The control system in which the output quantity has no effect upon the input
quantity are called open loop control system. This means that the output is
not feedback to the input for correction.
4. Define closed loop control system.
system.
The control system in which the output has an effect upon the input
Quantity so as to maintain the desired output value are called closed loop
control system.
5. What are the components of feedback control system?

the components of feedback control system are plant , feedback path
elements, error detector and controller.
6. Define transfer function.

The T.F of a system is defined as the ratio of the laplace transform of output
to laplace transform of input with zero initial conditions.
7. What are the basic elements used for modeling mechanical

translational system.
Mass M, spring K and dashpot or damper B
Control system3
8. What are the basic elements used for modeling mechanical rotational
system?
Moment of inertia J,dashpot or damper B and
spring K
9. Name two types of electrical analogous for mechanical system.
Force voltage and force current analogy
10. What is block diagram?

A block diagram of a system is a pictorial representation of the functions
performed by each component of the system and shows the flow of
signals.The basic elements of block diagram arew block, branch point and
summing point.
11. What is the basis for framing the rules of block diagram reduction
The two types of analogies for the mechanical system are
technique?
The rules for block diagram reduction technique are framed such that any
modification made on the diagram does not alter the input output relation.
12. What is a signal flow graph?

A signal flow graph is a diagram that represents a set of simultaneous
algebraic equations .By taking L.T the time domain differential equations
governing a control system can be transferred to a set of algebraic equations
in s-domain.
13. What is transmittance?

The transmittance is the gain acquired by the signal when it travels from
one node to another node in signal flow graph.
14. What is sink and source?

Source is the input node in the signal fow graph and it has only outgoing
branches. Sink is a output node in the signal flow graph and it has only incoming branches.
Control system4
15. Define nontouching loop.

The loops are said to be non touching if they do not have common nodes.
Open loop
Closed loop
1.Innaccurate
Accurate
2.Simple and economical
Complex and costlier
3.The changes in output due to
The changes in output due to
external disturbance are not corrected

automatically
external disturbances are corrected
4.They are generally stable
Great efforts are needed to design a
16. Distinguish between open loop and closed loop system
stable system
17. Why is negative feedback invariably preferred in closed loop system?

The negative feedback results in better stability in steady state and rejects
any disturbance signals.
PART A
1.
2.
3.
4.
5.
6.
7.
8.
What is system and control system?

What are the types of control system and explain it?
Write the application for open loop and closed loop control system.
Distinguish the open loop and closed loop control systems.
What are the components of control system?
Define transfer function.
What is differential equation?
What are the basic elements used for modeling mechanical
translational system?
4
9. Write the force balance equation for

a. Ideal mass element
b. Ideal Dash-pot
c. Ideal spring
10.
What are the basic elements used for modeling
mechanical rotational system?
11.
Write the torque balance equations for
a. Ideal rotational mass element
b. Ideal rotational Dash-pot
c. Ideal rotational spring
12.
What are all the two types of electrical analogous of
mechanical system?
13.
What is Block diagram?
14.
What are all the components of Block diagram?
15.
What is a signal flow graph?
16.
What is transmittance?
17.
Define non-touching loops.
18.
Write the properties of signal flow graph.
19.
Write the masons gain formula.
20.
Compare the block diagram representation and
signal flow graph.
Control system5
Control system6
BASIC ELEMENTS OF MECHANICAL SYSTEM

ELEMENT
SYMBOL
FORCE
Damper(B)
Mass(M)
Spring(K)
Control system7
PROBLEMS ON MECHANICAL SYSTEMS
1. Write the differential equation and find out the transfer function for given
mechanical system
Solution:
STEP1: Free hand drawing
To find differential equation:

By newtons law,
(1)
Take laplace transform for (1)
Control system8
2.Write the differential equation and find out the transfer function for given
mechanical system
Soln:
STEP1: Free hand drawing from Mass (M1)

By newtons law,
(1)
(2)
Control system9
By newtons law,
(3)
(4)
SUB/: (4) in (2)
Control system10
mechanical system
Soln:
Here applied force =0

By newtons law,
(1)
(2)
10
Control system11

By newtons law,
(3)
(4)
SUB/: (2) in (4)
11
Control system12
mechanical system
Soln:
To find
differential
equation:
By newtons law,
(1)
(2)

By newtons law,
12
Control system13
(3)
(4)
SUB/: (2) in (4)
BASIC ELEMENTS OF ROTATIONAL SYSTEM
ELEMENT
SYMBOL
FORCE
13
Control system14
Damper(B)
Inertia(J)
Spring(K)
1)Write the differential equation and find out the transfer function for given
rotational system
14
Control system15
Soln:

By newtons law,
(1)
(2)
15
Control system16
(3)
(4)
SUB/: (2) in (4)
16
Control system17
ELECTRICAL ANALAGOUS OF MECHANICAL SYSTEM

Force voltage analogy:
Mechanical system
Electrical system
Force ,f(t)
Voltage source V
Inductance L
Damper ,B
Resistance, R
Spring ,k
Capacitance ,C
Hints
i) if there is one displacement put the elements in series
Mass,M
ii) if there is Change in displacement put the elements in parallel

Force current analogy:
Mechanical system
Electrical system
Force ,f(t)
Current source I
Mass,M
Capacitance,C
Damper ,B
Resistance, R
Spring ,k
Inductance L
Hints
i)
if there is one displacement put the elements in parallel
ii)
ii) if there is Change in displacement put the elements in series
17
Control system18
ELECTRICAL ANALAGOUS OF ROTATIONAL SYSTEM

Torque voltage analogy:
Mechanical system
Electrical system
Torque
Voltage source V
Inductance L
Damper ,B
Resistance, R
Spring ,k
Capacitance ,C
Hints
i) if there is one displacement put the elements in series
Inertia,J
ii) if there is Change in displacement put the elements in parallel

Torque current analogy:
Mechanical system
Electrical system
Torque
Current source I
Inertia,J
Capacitance,C
Damper ,B
Resistance, R
Spring ,k
Inductance L
Hint
i) if there is one displacement put the elements in parallel
ii) if there is Change in displacement put the elements in series
18
Control system19
1. Write the differential equation and Draw force-current and force-voltage analogy
STEP1: Free hand drawing

By newtons law,
Solution:
Force-Voltage Analogy
Force-Current Analogy
19
Control system20
Soln:
By newtons law,

By newtons law,
Differential Equation are
20
Control system21
3.Write the differential equation and Draw force-current and force-voltage analogy
21
Control system22
Soln:
Here applied force =0

By newtons law,

22
Control system23
By newtons law,
23
Control system24
Soln:

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EC 2255 CONTROL SYSTEMS

Control system modelling

1. What is control system?

2. What are the two major types of control system?

3. Define open loop control system.

4. Define closed loop control system.

Control system modelling

5. What are the components of feedback control system?

6. Define transfer function.

7. What are the basic elements used for modeling mechanical

9. Name two types of electrical analogous for mechanical system.

Force voltage and force current analogy

10. What is block diagram?

Control system modelling

The two types of analogies for the mechanical system are

12. What is a signal flow graph?

13. What is transmittance?

14. What is sink and source?

15. Define nontouching loop.

2.Simple and economical

Complex and costlier

3.The changes in output due to

The changes in output due to

external disturbance are not corrected

external disturbances are corrected

4.They are generally stable

Great efforts are needed to design a

Control system modelling

16. Distinguish between open loop and closed loop system

17. Why is negative feedback invariably preferred in closed loop system?

What is system and control system?

9. Write the force balance equation for

Control system modelling

BASIC ELEMENTS OF MECHANICAL SYSTEM

Control system modelling