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- Stanislav v. Emelyanov PhD, Sergey K. Korovin PhD Auth. Control of Complex and Uncertain Systems New Types of Feedback
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You are on page 1of 4

BACHELOR OF ENGINEERING

MECHANICAL ENGINEERING

Continuous Assessment

Please submit your solutions with your Name and Student ID clearly stated to the

General Office (7th Floor, Haking Wong Building).

The students are expected to work independently on this assignment, i.e. WITHOUT

ANY DISCUSSION WITH ANYONE REGARDING THIS ASSIGNMENT.

Please keep a copy of your solutions. The submitted work will NOT be returned.

MECH3418 Dynamics and Control Page 2

1. (a) Find the range of K for which all the roots of the following polynomial are in

the LHP (left-half-plane):

(6 marks)

(b) The rotational velocity of a satellite is adjusted by changing the length of the

beam L. The transfer function between (s) and the incremental change in beam

length L(s) is

(s) 2.5(s + 2)

= .

L(s) (s + 5)(s + 1)2

If the beam length change is L(s) = 1/(2s), then determine the response of the

velocity (t) due to the beam length change and its steady-state value.

(7 marks)

(c) For the closed-loop system shown in Figure Q1(c), G(s) and D(s) are, respec-

tively, the transfer function of the system and the controller, R(s) is the reference

input and Y (s) is the output of the system.

Figure Q1(c)

100 K

Let G(s) = and D(s) = . Specify the gain and pole location of the

s + 25 s+a

controller so that the closed-loop response to a unit-step input has an overshoot of

no more than 25%, and a settling time (2%) of no more than 0.1 sec.

(12 marks)

(P.T.O.)

MECH3418 Dynamics and Control Page 3

K t Ke Kt

Jm m + b + m = va .

Ra Ra

Figure Q2

Assume that Jm = 0.01 kgm2 , b = 0.001 Nmsec, Ke = 0.02 Vsec, Kt = 0.02

Nm/A, and Ra = 10 .

(a) Find the transfer function between va (the applied voltage) and m (the motor

speed).

(6 marks)

(b) What is the steady-state speed of the motor after a voltage va = 10 V has been

applied?

(6 marks)

(c) Find the transfer function between the applied voltage va and the shaft angle

m .

(6 marks)

(d) Suppose feedback is added to the system in 2(c) so that it becomes a position

servo device such that the applied voltage is given by

va = K(r m ),

where K is the feedback gain. Find the transfer function between r and m .

(6 marks)

(e) What is the maximum value of K that can be used if an overshoot Mp < 10%

is desired?

(10 marks)

(f) What values of K will provide a rise time of less than 5 sec? (Keep the Mp

constraint.)

(6 marks)

(P.T.O.)

MECH3418 Dynamics and Control Page 4

3. (a) The feedback gain in Figure 3(a) is subject to variations. Design a controller

for this system so that the output y(t) accurately tracks the reference input r(t).

Figure Q3(a)

(i) Let = 1. You are given the following three options for the controller Di (s):

kp s + kI kp s2 + kI s + k2

D1 (s) = kp , D2 (s) = , D3 (s) = .

s s2

Choose one of the three controllers (including particular values for the con-

troller constants) that will result in a stable Type 1 system with a steady-state

1

error to a unit reference ramp of less than 10 .

(7 marks)

(ii) Next, suppose that there is some attenuation in the feedback path that is

modeled by = 0.9. Find the steady-state error due to a ramp input for your

choice of Di (s) in 3(a)(i).

(7 marks)

(iii) If = 0.9, what is the system type for 3(a)(ii)? What are the values of the

appropriate error constant?.

(7 marks)

(b) Consider a second-order system that models the position control of a DC motor

2o

Gp (s) = .

s(s + 2 o o )

(i) With proportional control (KP ), what is effect on the natural frequency and

the damping ratio? (7 marks)

(ii) With proportional-plus-derivative control (KP + sKD ), what is effect on the

natural frequency and the damping ratio as compared with purely proportional

control? (7 marks)

END OF PAPER

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