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# THE OPEN UNIVERSITY OF SRI LANKA

## FACULTY OF ENGINEERING TECHNOLOGY

DMX4543– CONTROL SYSTEMS ENGINEERING
ASSIGNMENT 01
Submission date: 20th April 2018

in to the assignment box availabe at the Department of mechanical Enginering
(Block 17),Nawala.

## THE COURSE COORDINATOR-DMX4543

DEPARTMENT OF MECHANICAL ENGINEERING
THE OPEN UNIVERSITY OF SRI LANAK
P.O.BOX 21,NAWALA
NUGEGODA
 Late submissions will not be accepted.
 For all MATLAB programs you have to attach both script(code) and the plot.

Q1.
(a) Differentiate the following systems giving a simple example for each.
(i) Positive Feedback VS Negative Feedback Control systems.
(ii) Feedback control systems VS Feed forward control systems.
(b) Figure Q1-(a) shows a wheeled human transportation vehicle (WHTV).

Figure Q1-(a)

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In the past decade, lightweight and uncomplicated vehicles have been created for use
as individual conveyance tools. Many passenger transportation vehicles such as two-
wheeled cars, single-wheeled motorcycles and bicycles have been developed. WHTV
is a simple electric moving platform and a modern model of individual conveyance
tools. WHTVs have superior maneuverability (a strategic way to change its
movement) and are appropriate for use in urban areas. The self-balancing WHTV is
actively controlled to allow safe and easy transportation of a single person.

(i) Draw the block diagram of this feedback control system by clearly
showing each and every blocks and variables.
(ii) Describe how the closed-loop feedback control system assists the rider
of the WHTV in balancing and maneuvering the vehicle.

(c) Figure Q1- (b) shows a mechanical vibratory system. When a 2N force (step
input) is applied to the system, the mass oscillates as shown in Figure Q1-(c).

## (ii).Obtain the transfer function for the system.

(iii).Determine ‘m’, ‘b’, and ‘k’ of the system from the response curve.

## The displacement ‘x’ is measured from the equilibrium position.

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Q2.

(a) Define the following terms related to 2nd Order Control Systems.

## (i) Peak Time (iii) Rise Time

(ii) Settling Time (iv) % Over Shoot

(b) How do the following responses of a 2nd Order systems behave when applying a
step input?

Figure Q2

## i. In the absence of derivative feedback (a=0), determine the damping

factor and the natural frequency.
ii. Determine the steady state error resulting from a unit ramp input.
iii. Determine the derivative feedback constant a, which will increase the
damping factor of the system to 0.7.
iv. What is the steady state error to unit ramp input with this setting of the
derivative feedback constant?

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Q3.

Figure Q3

(a) Reduce the block diagram shown in Figure Q3 to a single transfer function.
(b) Draw the signal flow graph for the block diagram.
(c) Use Mason’s Gain Formula to obtain the transfer function C(s)/R(s) of the system.
(Clearly show all steps).

Q4.

Consider the second order control system shown in the figure Q4.

R(s) ++ C(s)
G(s)
-

Figure Q4

Select one of the control systems from the table 4.1 according to the last digit of your
registration number.

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Table 4.1

## Last Digit of the Registration Number

0 1 2 3 4 5 6 7 8 9

G(s) 8 25 16 64 12 81 1 3 1 12
𝑠(𝑠 + 4) 𝑠(𝑠 + 10) (𝑆 + 4) − 16 𝑠(𝑠 + 64) 𝑠(𝑠 + 3) 𝑠(𝑠 + 12) (𝑠 + 3)2
2 2
𝑠(𝑠 + 2) (𝑠 + 2) − 9 𝑠(𝑠 + 4)

(a) (I) Obtain the characteristic equation and calculate the following when a unit
step input is applied to the system.
(i) Damping ratio (ii) Natural Frequency (iii)Peak time
(iv) Settling time

(II) Use MATLAB to plot the step response of your system and verify the answers in
a (I).

(b) How would your system respond when a Unit ramp input is applied? Explain
how the above characteristics in part a(I) of your system change with this new
input.
(c) Plot your system with ramp response by using MATLAB and verify the above