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02/15/2012

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# IES3006 : Control Systems

SECTION A : ATTEMPT ALL PARTS OF THIS SECTION A1. (a) State the conditions for stability of a LTI system ________________________________ ___________________________________________________________________________ ___________________________________________________________________________ ________________________________________________________________________ [3] (b) Mark the following on the figure; tp = peak time, Mp = overshoot; ts = settling time. (c) Write down the transfer function y(s)/r(s) for this system.

r

+ _

G H

y

[3]

[3]

(c) Mark the crossover frequency and damped A2. (a) Write down the transfer function for a second order system in terms of its resonant frequency on this diagram. [2] natural frequency (ωn) and damping [3] Bode Diagram factor (ζ).
0dB

(b) What is the high-frequency cut-off rate of a low-pass second order system in dB/decade? 10 15 40 60 [1]

A3. (a) State the Final Value Theorem (FVT) [3] (b) What use is commonly made of the FVT in control systems analysis? ___________________________________________________________________________ ___________________________________________________________________________ (c) The response of a tracking system lags a ramp input demand by a constant value. The system is : Type 0 Type 1 Type 2 [2] (d) What form of feedback would commonly be used to increase system type? Proportional Integral Derivative [2] REMEMBER TO TAG THIS SHEET TO YOUR ANWER BOOK

[3]

2 0 0 1 2 3 time (s) 4 5 6 Figure B2 (b) Obtain the closed loop transfer function y(s)/r(s) when both the position and rate loops are connected. (a) The control system in Figure B1 has a position and rate feedback loop.6 0. [10] s + 2. When the rate loop is disconnected (no rate feedback).4 ± j12.SECTION B : ATTEMPT ONE QUESTION FROM THIS SECTION B1. K1 and K3 from the plot and 100 show that the position loop transfer function is approximately 2 . Estimate values for the parameters a1. [8] (c) The poles of this transfer function are found to be at -15.8 0. [7] . Deduce values for K2 and a2.1s + 110 r + _ + _ K1 s(s + a1) rate loop y Figure B1 K2s s + a2 K3 position loop 1.3 and (-8.4 1.2 1 0.1). the response to a unit step at the reference input (r) is recorded as Figure B2.6 1.09 y(t) 0.4 0.

B2. (a) Draw the open loop Bode plot for a plant with transfer function G ( s ) = 50 . on the paper provided. State the gain and phase margins. Comment on the stability of a unit feedback closed loop system with G(s) in its forward path. [10] Bode Diagram 60 55 Magnitude (dB) Phase (deg) 50 45 40 60 30 0 0 10 10 1 10 Frequency (rad/sec) 2 10 3 Figure B3 (c) What are the likely peak time and damping factor (ζ) for the compensated system’s step response? [3] . Comment on the stability of the compensated system in closed loop. using s (s + 50) asymptotic approximations. Draw the open loop Bode plot of the combined plant and compensator. [12] 2 (b) Figure B3 is the frequency response of a lead-lag compensator used to improve system response. State the gain and phase margins.

+20 0 -20 -40 magnitude (dB) -60 -80 -100 -120 -140 -160 -180 1 10 frequency (rs-1) 100 1000 -80 -120 -160 phase (deg) -200 -240 -280 1 10 frequency (rs ) -1 100 1000 REMEMBER TO TAG THIS SHEET TO YOUR ANSWER BOOK IF YOU ATTEMPTED QUESTION B2 .

t ≥ 0 δ(t) 1(t) t t2 t3 tm e-at te-at 1 2 − at t e 2! 1 t m −1e − at ( m − 1)! 1-e-at 1 (at − 1 + e − at ) a e-at-e-bt (1 − at )e − at 1 − e − at (1 + at ) be − bt − ae − at sin at cos at e − at cos bt e − at sin bt a 1 − e − at  cos bt + sin bt      b .Table of Laplace Transforms Number 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 F(s) 1 1/s 1/s2 2!/s3 3!/s4 m!/sm+1 1 s+a 1 ( s + a) 2 1 (s + a ) 3 1 ( s + a) m a s( s + a ) a 2 s ( s + a) b−a (s + a)( s + b ) s ( s + a) 2 a2 s( s + a ) 2 (b − a )s (s + a)( s + b ) a 2 s + a2 s 2 s + a2 s+a ( s + a) 2 + b 2 b ( s + a) 2 + b 2 a2 + b2 s[( s + a) 2 + b 2 ] f(t).

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