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Prof. Dr.

Metin Uymaz Salamc


MM403 CONTROL SYSTEMS HOMEWORK 1

Figure 1

Figure 2

Answer 1: A Main differences is closed loop and feepback lop. Figure 1 is open-loop control systems and Figure 2 is closed(feedback) control system. The number of components used in a closed-loop control system is more than that for a corresponding open-loop control system. The closed-loop control system is generally higher in cost and power. A proper combination of open loop and closed loop controls are usually less expensive and will give satisfactory overall system performance closed loop control system the reference input is modified by the actual output before entering the controller.

ADEM AKYZ 101155004

Prof. Dr. Metin Uymaz Salamc Solution 2:

Figure 3 *Block Diagram Reduction Tecnique Step 1: Move summing point ahead of G1

H2/G1
U(s) + +

G1

G2

+ +

G3

G4

Y(s)

H1 H3

Step 2: Move branch point G4 right and Combine G3 & G4

H2/G1.G4
U(s) + +

G1

G2

+ +

G3G4

Y(s)

H1 H3 ADEM AKYZ 101155004

Prof. Dr. Metin Uymaz Salamc

Step 3: Combine G1 & G2 and Reduce feedback form on left, internal loop

H2/G1.G4
U(s) + +

G1G2

G3G4 1- G3G4H1
Y(s)

H3

Step 4: Combine G1G2 & G3G4/ 1+ G3G4H1

H2/G1.G4

U(s) + +

G1G2G3G4 1- G3G4H1
Y(s)

H3

Step 5: Reduce feedback form on left

G1G2G3G4
U(s) -

1- G3G4H1 + G2G3H2

Y(s)

H3

ADEM AKYZ 101155004

Prof. Dr. Metin Uymaz Salamc

Step 6: Reduce feedback form on left

G1G2G3G4
U(s)

1- G3G4H1 + G2G3H2+ G1G2G3G4H3

Y(s)

* Verify by Algebric Manuplations

Y= A.G4 A=B.G3

B=C+D

C=E.G2

D=Y.H1

A=E.G2 + Y.H1 M= G1.N

Y=G3G4 (E.G2 + Y.H.1) M-F=E F=A.H2 Y= G3G4 ( (G1.N + A.H2).G2 + Y.H1) Y= G3G4(G1 G2.N+ A.H2.G2 + Y.H1) Y= G1 G2.G3G4N + G2.G3G4 A.H2 + Y. G3G4H1 U-I=N I=Y.H3

N=U + Y.H3 A=Y/ G4

Y= G1 G2.G3G4U- YG1 G2.G3G4 H3 - YG2.G3 H2 + YG3G4H1 Y(1+ G1 G2.G3G4 H3 + G2.G3 H2 - G3G4H1 )= U.G1 G2.G3G4

ADEM AKYZ 101155004

Prof. Dr. Metin Uymaz Salamc

Figure 4

Step 1: Move summing point in front of G2

G1
+
R(s) +

G2

G3
-

C(s)

H1

H2G2
Step 2: Reduce feedbacback form on right and sum G1 & G1

R(s)

G1 + G2
-

G3 1+ G3H1
C(s)

H2G2

ADEM AKYZ 101155004

Prof. Dr. Metin Uymaz Salamc Step 3: Reduce feedbacback form on right interloop

R(s)

G1 + G2

G3 1+ G3H1 + G2G3H2
C(s)

G3G1 + G2G3
R(s)

1+ G3H1 + G2G3H2

C(s)

* Verify by Algebric Manuplations

C=A.G3 A=E+D-B

B=C.H1 F=R-I

D=RG1

E=F.G2

I=H2.C

E=(R-H2.C).G2

A=(R-H2.C).G2 + RG1 - C.H1 C=((R-H2.C).G2 + RG1 - C.H1)G3 C=RG2G3 - H2G2G3.C + RG1G3 - C.H1G3 C + H2G2G3.C + C.H1G3 = RG2G3 + RG1G3

ADEM AKYZ 101155004

Prof. Dr. Metin Uymaz Salamc Solution 3:

i)

V.G2=C V=U+D C=UG2 + D.G2

ii)

C=G2V=G2(U+D)=G2[G1(R-B)+D) =G1G2(R-HC) + G2D =G1G2R G1G2HC + G2D [1 + G1G2H ] = G1G2R + G2D

iii)

V=U+D U=G1E E=R-B HC=B >> H.V.G2=B E=R-HVG2 V=G1R G1G2HV + D [1+ G1G2H] V= G1R + D

iv)

C=G2V=G2(U+D)=G2[G1(R-B)+D) =G1G2(R-HC) + G2D =G1G2R G1G2HC + G2D [1 + G1G2H ] = G1G2R + G2D

v)
ADEM AKYZ 101155004

Prof. Dr. Metin Uymaz Salamc

Solution 4:

Taking Laplace Transforms of these two equations;

ADEM AKYZ 101155004

Prof. Dr. Metin Uymaz Salamc

Solution 5:
a) The equation of motion for the system shown in (a)

Taking the Laplace transform of this last equation,

Hence transfer function

is given by

b) The equation of motion for the system shown in (b)

Taking the Laplace transform of this last equation;

Hence transfer function

is given by;

ADEM AKYZ 101155004

Prof. Dr. Metin Uymaz Salamc

c) The equation of motion for the system shown in (c)


Taking the Laplace transform of this last equation;

Hence transfer function

is given by;

ADEM AKYZ 101155004