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    10 views16 pages

    H#3

    Uploaded by

    Fawzi Radwan
    h.w

    Copyright:

    © All Rights Reserved
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    Prince Sattam bin Abdulaziz University sasaSldee oy alla peill deale College of Engineering je ee Department of Electrical Aodight AIS” Engineering I Fy gS Leteglh ged EE4S51 Control System Design and. _ eel ed Simulation mo Son gli Stray pated 5 4511 Course Name: EE 4551: Control Systems Design and Simulation Homework No. (3): Control System Design Academic Year 1438H/1439H -2017G/2018G Student Name | Group No. ID No. | Second Term Teaching Assistant/Lecturer Total to Eng.: Ismail Professor Name: ‘Arafat Prof. Fayez F. M. EL-Sousy Signature Signature Answer the Following Questions: ‘Question No. (1) Consider the servo system shown by the system im Figure (1). The DC servo motor dynamic equations are given by: En 10-0 we en-au ,, Ke, -:) @(0 = KAO e,(0) = K,6,0) Ky = A/a volts/radian, A= 15 V , det) ,d0,{t) T(t) = @8,(t) = J 4 pO = (0) = af, ( a +f. at 0,(1) =70,(2) 1 a. => =150 y.sec/rad, *™ Bow OF coe JORIS (a) Design the value of the amplifier gain K, such that the damping ratio of the closed loop system equals to 0.5, (b) Assume that a tachometer is attached directly to the motor and a potentiometer is placed across the output terminals of the tachometer. such that the voltage on the potentiometer wiper is 46,0) e()= = The signal ¢3 is added to e9, such that the armature voltage is now &. =K (4-6-3) Design the value of Ky and Ky such that the damping ratio of the closed loop system equals to 0. it poeetometsr . “a Figure (1) Schematic diagram of the servo system stion. Figure (2) shows the piping and instrumentation diagram of the Continuous Stirred-Tank Heater (CSTH). The dynamic model of the process is given by: aT - - ot py T at +T() =F,(2) + KO(1) K a T o The heat Energy of the heater Q(/) is the manipulated variable. the controlled variable is the output temperature of the liquid 7 and the disturbance is the temperature of the inlet liquid 7}. K is the steady state gain of the heater. V=1.6 f°. C=0.32 BTU/IB °F, «200 IB/nin, p=62.4 IB/f Ty “Td ee Figure (2) Continuous Stired-Tank Heater (a) Complete the functional closed-loop diagram for the overall system with a thermocouple as a temperature transducer for measuring T. (b) Draw the closed-loop block diagram, (©) Design the suitable controller based on the desired closed loop system response shown in Figure (2-1) using the pole placement technique. Note that the model of the thennocouple is shown in Figure (2-2) and the model of the heater is shown in Figure (2-3). Consider the disturbance Z(#)=0 20 kop A) Figure (2-1) Desired closed loop response of the continuous stirred-tank heating control system. ‘Break point ator « 2 SX, } correction: -s 8 Slope: 20 aBidec dBloctave -20 log, Magnitude, Oe a 100 Frequency, ws, [rad/s] a=0.1 Figure (2-2) Frequency response of the thermocouple-measuring device y — Approximated cone 16 1 20 2 #(se0) Fiore (2-3) Sten resnonse in the heat enersv of the heater Question No. (3) ‘Consider the temperature control system shown in Figure (3). It is desired to have an ‘overshoot about 10% and a settling time (with 2% criterion) of about 5 sec. It is desired to design the PID controller G,(s) using the root-locus technique to previous specifications. Note that D(s)=0. Dis) Ris) + > J 1 cs) + (5) Figure 3) Block diagram of temperature control system. Question No. (4) Consider the control system shown in Figure (4). It is desired to have an overshoot less than 10% and a settling time (with 2% criterion) less than 2 sec. » (a) Design the PID controller G.()- 8 E29E*) to meet the previous specifications using the ITAE performance index. & K,++K:5 ) , determine the values of Kp, K,and Ky pStas+d) 1 co) Ss s(s+1)(s+5) Gas) > Figure (4) Block diagram of feedback control system Table (1): The Optimum Coefficients of C(s)/R(s) Based on the ITAE Criterion fora Step Input ste, 2 2 S?+140,5+@} 5° +1.75@,57 + 2.15@35 + @; s*+2.10,5? +3.4a@3s? +2.7a@3s +o 5° +2.80,57 + 5.0a2s* +5. Sas? +3 A@is +o; Question No. (5) Consider the control system shown in Figure (5), design a PD controller using the root- locus technique such that the dominant closed-loop poles have a damping ratio C=0.85 and undamped natural frequency c,=10 rad/sec. ‘Air supply & t= Air chuck —_ Stepper ‘Controller motor ae moror Armature wire sett sis +56 +10) winder system Question No. (6) Consider the robot-arm control system shown by the system in Figure (6-a). The DC motor dynamic equations are given by: L0- Oo oO ent) Zone) seul LO+a,@)= Ea oO + pital 6,00) =78,{t) 1 150 y.sec/rad tx fea) o's JO RS (a) Draw the functional block diagram for the overall system, showing the finctional relationship between the transfer function. (b) Prove that the transfer function of the DC motor a ,(s) RJ tba] JO RS (©) Find the closed transfer function of the system 9, (5) =@,(s) (A) It is desired to design a controller using the pole-placement technique to meet the desired response transfer finction shown in Figure (6-b). nce line {G. = 0} 6 3 1 &) Figure ©) (@) Robot arm control system __(b) Desired response transfer function _ Question No. (7) Computer control of a robot to spray-paint an automobile is shown by the system in Figure (7-a). It is desired to design a controller using the pole-placement technique. The desired response transfer function can be obtained from Figure (7-b). Note that D(s)=0. Do) Is Sa ) Figure (7) (a) Spray-paint robot control system (b) Desired response transfer function ‘Question No. (8) A position control system for a large turntable is shown im Figure (8-a) and the block diagram of the system is shown in Figure (8-b). This system uses a large torque motor with Ky = 15 and Ky=0.81. It is desired to have an overshoot less than 5% and a settling time (with 2% criterion) less than 1 sec. Design a PID controller to meet the previous specifications using the ITAE performance index. Note that: 7y(s)-0 and G(s) = Ky + Ais Ks) . e.- Postion signal Figure (8) Tumtable feedback Control system Table (1): The Optimum Coefficients of C(s)/R{s) Based on the ITAE Criterion for a Step Input 5+@, si+1A4a,s +0} S+1.75a,5° +2.15a;5 +0; s*42.10,53 +3.4a3s57+2.J03s+0$ 5°4+2.80,5° +5.0@)5? +5.5@3s? +34a35+.@5 Question No. (9) ‘A magnetic amplifier with a low-output impedance is shown in Figure (9) in cascade with a low-pass filter and a preamplifier. The magnetic amplifier in the block diagram has the frequency response shown in Figure (9-1). The magnetic amplifier has a high-input impedance and a gain K and a time constant T (@) Draw the functional block diagram for the overall system, showing the functional selationship between the transfer function. (b) Derive the closed loop transfer function Vo(5)/Vin() (c) Identify the model of the magnetic amplifier (@ Design the values of the capacitance C such that the closed-loop transfer function ¥;(s)/Fig(s) has a damping ratio of 1/./2 anda settling time of 5 sec. w frad/s) Figure (9-1) The magnetic amplifier frequency response (Bode diagram) Question No. (10) ‘Consider the sobot-arm control system shown by the system in Figure (10-a). motor dynamic equations are given by: 19 = OHO ent 22K ae (0) dO gf t) Tog) ~ 22 (2) 730 + piel. Bo(0) = NO yk?) (es J RT The robot arm dynamic is shown in Figure (10-b) (©) Draw the functional block diagram for the overall system. showing the functional relationship between the transfer function. (® Prove that the transfer function of the DC motor a 84S) _ O {o[S-3]) J RS (g) Find the closed transfer function of the system 4,(s)/8,s) (h)It is desired to design a controller using the pole-placement technique to meet the desired response transfer function shown in Figure (1-c). [eontratter]_, [— Bia)” PYaarvenere “3.01 6B Slope: -20 dBidecade Pasebiid Stopband «© Figure (10) Robot-arm control system (a) Block diagram. (b) Frequency response Bode diagram of the robot-arm Question No. (11) Figure (11) shows the piping and instrumentation diagram of the Continuous Stirred-Tank Heater (CSTH). The dynamic model of the process is given by: aT 1 TSE tTO=-10+ KOO K-25 ‘The heat Energy of the heater Q(f) is the manipulated variable, the controlled variable is the output temperature of the liquid J and the disturbance is the temperature of the inlet liquid 7; K is the steady state gain of the heater. Y=1.6 fP, C=0.32 BTUMB °F, @-200 IB/min, o-62.4 IB/n* Figure (11) Continuous Stirred-Tank Heater (@ Complete the functional closed-loop diagram for the overall system with a thermocouple as a temperature transducer for measuring T. (© Draw the closed-loop block diagram. G(s) ar EE OMETDD ® Design the PID controller to meet the specifications. ‘overshoot less than 10% and a settling time (with 2% criterion) less than 2 sec. using the ITAE performance index. Ie G@)- kK SADE*P) {« +4i+k,s) determine the values of Kp, Ki and Ky. Note that the model of the thermocouple is shown in Figure (11-1) and the model of the heater is shown in Figure (11-2). Consider the disturbance Tf}-0 “Table (1): The Optimum Coefficients of C(s)/R{s) Based on the ITAE Criterion for a Step Input 5+0, s?414a,5+@) 3° 4+1.75a,s7 +2.15@)5+@3 s*42.1a,s? +3.4e357 +2.Jejs +f 55+28a,5* +5.0@js? +5.S@j3s* +34a3s+ a3 ‘Break potnt at «=a 7

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