Professional Documents
Culture Documents
where v = y b m/s is the sway velocity, r = / s is the yaw rate (rate of heading
change), is the yaw (or heading) angle in degrees and is the rudder angle in
degrees (defined such that positive rudder angle yields a positive yaw rate).
Page 2 of 12
4. Determine the locations of the open loop poles of the system. The open loop
poles are given by
[2 marks]
a. s = 0, 0 rad/s
b. s = 0.146 , 0.334 rad/s
c. s = 0.0488,0.48 rad/s
d. s = 0.0488i ,0.48i rad/s
e. None of the above.
Page 3 of 12
[1 mark]
6. The transfer function given by Equation (3) (in Question 3) contains a minus
sign. Discuss what this implies.
[2 marks]
a. The ship dynamics are unstable
b. The ship dynamics are non-minimum phase
c. The ship dynamics are minimum phase
d. The ship experiences positive yaw for a negative rudder angle
e. The ship is difficult to control.
7. Approximately how long would the plant take to settle within 2% to an impulse
in to the rudder?
[2 marks]
a. ~0.5 s?
b. ~10 s?
c. ~0.5 minute?
d. ~30 minutes?
e. None of the above.
8. Calculate the open-loop zero(s) between the rudder input , and the output
yaw rate r = / s . The zeros are:
[3 marks]
a. There are no zeros
b. s = 0 rad/s
c. s = 0.305 rad/s
d. s = 0.480 rad/s
e. None of the above.
9. Assuming that you had built the state space model in Matlab, what code below
would you use to determine the zeros of the system?
[1 mark]
a. zeros(A)
b. zero(A)
c. zeros(ship)
d. zero(ship)
e. All of the above.
10. Is the plant strongly stabilisable?
a. Yes
b. No
c. Unsure
d. There is insufficient information
e. All of the above.
Course ID: MECH ENG 3028
[2 marks]
Page 4 of 12
11. Using Equation (1) and assuming that the two states are zero, what is the
largest rudder angle that can be input without the sway acceleration exceeding
10% of gravity (where g = 9.81 m/s 2 )?
[3 marks]
a. 1 degree
b. 4.5 degrees
c. 25 degrees
d. 45 degrees
e. None of the above.
12. Given that the rank of the A matrix in Equation (1) is 2, what is the minimum
number of states required to model the system?
[2 marks]
a. None
b. One
c. Two
d. Three
e. None of the above.
13. Rewrite the State Equation (1) and Output Equation (2) in observer canonical
right companion form,
[3 marks]
0.25 0.87
0.22
a. x =
x +
, r = [0 1]x
0
.
01
0
.
23
0
.
04
0.48 0.0488
1
b. x =
x + 0 , r = [ 0.04 0.0122]x
1
0
1
0.48
0.04
c. x =
x + 0.0122 , r = [1 0]x
0
.
0488
0
0 0.0488
0.0122
d. x =
x + 0.04 , r = [0 1]x
1
0
.
48
-0.04
x2
x2
-0.23
-0.87
x1
x1
0.22
a.
Course ID: MECH ENG 3028
Page 5 of 12
-0.87
-0.23
0.22
x2
x2
-0.01
x1
x1
1
0
-0.25
-0.04
b.
-0.0488
-0.48
-0.0122
x2
x2
x1
x1
-0.04
c.
1
0
-0.04
x2
x2
-0.48
-0.0488
x1
x1
-0.0122
d.
Page 6 of 12
15. Which of the block diagrams above represent the plant in observer canonical
form derived previously in Question 13?
[3 marks]
a. (a)
b. (b)
c. (c)
d. (d)
e. None of the above.
16. Using the state equations given by Equation (1), calculate the controllability
matrix and determine how many (if any) of the plant states are controllable.
Hint: Relate this to the block diagram in Question 14 above.
[3 marks]
a. No states are controllable
b. One state is controllable
c. Two states are controllable
d. One state is controllable and one is stabilisable
e. None of the above.
17. If you were to repeat the exercise in Question 16 using Matlab, the code would
be:
[1 mark]
a. zeros(obsv(A,C))
b. rank(ctrb(A,B))
c. eig(ctrb(A,B))
d. cond(obsv(A,C))
e. None of the above.
18. You are going to design a full state feedback controller for the plant. You have
an initial choice of 4 sets of control gains which are listed below along with the
resulting pole locations. Choose the set of gains that result in pole-zero
cancellation.
[2 marks]
a. K = [k1 k2 ] = [1.56 23.9] resulting in s = 0.326, 1.45 rad/s
b. K = [k1 k2 ] = [0.412 5.96] resulting in s = 0.321, 0.488 rad/s
c. K = [k1 k2 ] = [0.251 3.57] resulting in s = 0.305, 0.372 rad/s
d. K = [k1 k2 ] = [0.157 2.20] resulting in s = 0.260, 0.343 rad/s
e. None of the above.
Page 7 of 12
19. In order to model the yaw angle it is necessary to add a third state, namely the
yaw angle, , which is the integral of yaw rate.
Which of the state equations below represent the plant with the feedback
gains in Question 18 applied?
[4 marks]
v 0.305 0.086 0 v 0.22
a. r = 0
0.373 0 r + 0.04
0
1
0 0
v 0.25 0.87 0 v 0.22
b. r = 0.01 0.23 0 r + 0.04
0
1
0 0
v 0.981 0.870 0 v 0.22
c. r = 0.005 0.123 0 r + 0.04
0
1 0
0
v 0.981 0.870 0 v 1
d. r = 0.005 0.123 0 r + 0
0
0
1 0
e. None of the above.
20. It can be shown that the condition number of the observability matrix of the
system is equal to 105. Using this, we can see that
[2 marks]
a. Any estimates of the states will be accurate
b. Any estimates of the states will be extremely inaccurate
c. The states cannot be estimated at all
d. A reduced order observer is essential
e. None of the above.
21. Given the choice of pole locations for the closed loop system (in Question 18),
what would be suitable pole locations for a closed loop full state observer?
[2 marks]
a. s = 0.03, 0.03 rad/s
b. s = 0.3, 0.3 rad/s
c. s = 3, 3 rad/s
d. s = 30, 30 rad/s
e. None of the above.
22. If you were to build a compensator (using the control gains from Question 18)
based on a full state observer, how many states would it contain? [2 marks]
a. 1
b. 2
c. 3
d. 4
e. None of the above.
Course ID: MECH ENG 3028
Page 8 of 12