6ET006 Control Engineering I Assignment

Module Title: Control Engineering I

Module Code: 6ET006

Component Number: 1 Element Number: 1

Component Titles Assignment: Modelling, Phase Lead Compensator design

Weighting: 30%

Learning Outcomes to be assessed:

US - Underpinning Science and Mathematics - able to develop mathematical models of control

systems containing mechanical, electrical and electronic components: able to form simulation models of
control systems and assess their validity: able to analyse hybrid control systems and identify parameters
that influence prominent aspect of the transient response

Marking Criteria: See weightings of each question

Written reports produced using IT skills.

In order to achieve a 40% (minimum pass grade) students are expected to produce reports that show a
basic understanding of the subject area using standard available material. The reports are to be produced
electronically using relevant illustrations, where applicable.
In order to achieve 90% (highest pass grade) students must produce a report that demonstrates
extensive, well researched knowledge of the subject area, expressing competent personal opinions and
arguments. The reports must be electronically produced, well-illustrated and adequately referenced.

The minimum pass mark is 40%.

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Assignment Issued: 21 Feb 2016
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Latest dates for submission: 21 March 2016

Assignments submitted after the deadline, and without an authorised extension, will be graded F0.

Please mark your assignment for the attention of: Mr. J.Perera

You should make it very clear what sources of information have been used; where material/information
from these sources is quoted, it must be clearly referenced using the Harvard Referencing System.
(Details can be obtained from Learning Centre pages on the University website).

Only softcopies are accepted

The assignment must be uploaded to WOLF or to be written to a CD and handed into office, faculty
of Engineering Technology ,Wulfruna building CINEC
You are required to keep your own electronic copy of any work submitted.
6ET006 Control Engineering I Assignment

UNIVERSITY OF WOLVERHAMPTON
FACULTY OF SCIENCE & ENGINEERING
6ET006 CONTROL ENGINEERING I

1) Disk drive read system is shown below.

Fig Q1(a): Diagram of a disk drive

a. Sketch the block diagram of a closed loop feedback control system for accurately
controlling the location of reader head to read the data stored on a track on the
disk.

(Marks 12%)
6ET006 Control Engineering I Assignment

b.

Fig Q1(b)(i) : Head mount for reader

Fig Q1(b)(ii): DC motor electrical diagram and sketch

6ET006 Control Engineering I Assignment

Suppose the motor is armature controlled DC motor as shown above and show
that the transfer function of the motor G(s) with usual notations is

G(s) = Km
s(Js+b)(Ls+R)

Assume Kb = 0
(Marks 12%)

c. Use following typical parameters for disk drive motor and show that approximate
second order model is

G(s) = 5
s( s+20)

(Marks 10%)

Parameter Symbol Typical rate

Inertia of the arm and read head J 1 N m s2 / rad
Friction b 20 N m s / rad
Armature resistance R 1
Motor constant Km 5Nm/A
Armature inductance L 1 mH

d. Obtain the CLTF of the system considering controller is having only proportional
gain of 40 and the feedback is unity. Sketch the unit step response manually and
using MATLAB.
(Marks 10%)
e. Calculate
i. Steady state error for unit step
ii. Settling time
iii. Percentage overshoot
(Marks 6%)
6ET006 Control Engineering I Assignment

2) Following figure shows typical XY plotter which is used in various applications

such as engraving machine, laser cutting machine, painting any surface and
drawing purposes.

Two DC motors are used to move the pen assembly to x and y directions. The
feedback sensor is 500-line optical encoder. To achieve desired performance
controller is used and system can be modelled as below.

The model for the motor and pen carriage is

G(s) = 1
s (s+10)(s+1000)
6ET006 Control Engineering I Assignment

The compensator to be design to achieve

i. A step response with an overshot of less than 5% and a settling

time less than 0.5 sec.
ii. A percentage steady state error for a step equal to zero.

a. Assuming the compensator is only a proportional controller and find the

best K value to achieve stated performance using time domain analysis
(Root locus method) and verify stated performance cannot be achieved
only using proportional controller.

(Marks 20%)

b. Use lead compensator to achieve stated performance by clearly showing

time domain (Root locus method) design steps.
(Marks 30%)

END OF ASSIGNMENT