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CONFIDENTIAL

$T Ir q

Lffi

UNIVERSITI TUN HUSSEIN ONN MALAYSIA

FINALEXAM

SEMESTERI

sEssroN 2012 12013

COURCE CODE BDA 30703 / BDA 3073

PROGRAMME BACHE,LOR DEGREE OF

MECHANICAL ENGINEERING

EXAMINATIONDATE JANUARY 2OI3

DURATION 3 HOURS

ALL QUESTIONS

2. PART B (OPTIONAL) : ANSWER

CONFIDENTIAL

BDA30703 / BDA 3073

new engineers for the company. You a"re expected to answer several basic

control system questions as a candidate following a preliminary procedure.

Please provide the best solutions for the following enquiries.

(i) Based on your knowledge in control engineering, give three (3) benefits

of having control engineering knowledge in HVAC system.

maintained between2?oc to 25oC with a switch that regulates 'on' and

'off in a pre-defined switching cycle.

(iiD Give reasons for your answer in Ql (a)(ii).

(iv) With the same control system, give an additional mechanisms that allow

the temperature to be maintained within the desired range ideally without

e1Tor.

(11 marks)

(b) Obtain the transfer function (X"/X) of the mechanical system shown in FIGURE

FIGURE Ql(bxii) which is having a transfer function of

E,(4 (Rrcrs+l){Rzcrs*1}

e, (") (Rrcrs + tXRzCus * 1) + R"Grs

(8 marks)

(c) Prove that the following block diagram reductions are correct.

(D

(6 marks)

8DA30703 / BDA 3073

(2 marks)

FIGURE Q2. If the input signal is applied force, f(t) and its output signal is

displacement Xr{f},

O write the differential equation of motion for the system. Use Laplace

transform and assume all initial conditions are zero.

(6 marks)

(8 marks)

(iii) obtain the transfer function of the system with the input and output signal

as in Q2(b) using any suitable method.

(9 marks)

Q3 (a) Find the transfer function Xrfu)tX,(s) of the mechanical system shown in

(5 marks)

(b) From part (a), if the input signal is a unit step, determine

(i) the value of k and a to yield 30% overshoot and a settling time of 4

(ii) the value of rise time (7,),peak time (4) *O steady-state elror (r",) of the

(iii) the location of the system's poles in s-plane.

Then,

(iv) plot the system's poles is the s-plane, and

(v) sketch the time response graph of the system and indicate the location and

value of rise time (r,),peak time (rr),percent overshoot (%oS), settling

(13 marks)

(c) From part (a), if the input signal is a unit ramp, determine the value of k and a

to yield a 5Yo error in the steady-state and a 30Yo overshoot.

(7 marks)

.t I

i, t

ri in

8DA30703 / BDA 3073

Q4 (a) State the definition of the phase and gain margins for a stable system

(4 marks)

(b) Illustrate the stability of the closed loop system using the Bode diagram concept

and Nyquist plot concept.

(6 marks)

(c) Consider the unity-feedback control system whose open-loop transfer function is

-- \-/

GIt(s) - s{s.tlo-=

* 5)z

(i) Sketch the Nyquist plot (use scale of I cm: 1 unit on both a:res)

(ii) Find phase and gain margin from the graph.

(iii) Give two (2) disadvantages of using Nyquist plot.

(15 marks)

Q5 (a) FIGURE Q5 shows the simplest form of on-off type feedback controller for the

temperature control. Explain how Proportional (P), Proportional plus Derivative

(PD) and Proportional plus Integral and Derivative (PID) controllers affects the

transient of this system. (Use the same plot to explain your answer)

(12 marks)

(b) The open loop transfer function of a control system is given by

K

KG(s)H(')-

s(s+l)(s+a)

Design an ideal derivative compensator to yields 16% Overshoot, with a threefold

reduction in settling time. Sketch the root locus on a linear graph paper to obtain

the corresponding pole, undamped natural frequency an and damped natural

frequency oa forthe compensated system. I Use the scale of 2 cm: I unit on both

a:res]

(13 marks)

END OF QUESTIONS

4

8DA30703 / BDA 3073

FINAL EXAMINATION

COURSE NAME : CONTROL ENGINEERTNG COURSE CODE BDA 30703 / BDA 3073

(ii)

FIGURE 01 (b)

Frictitrnless

FIGURE 02

BDA30703 / BDA 3073

FINAL EXAMINATION

COURSE NAME : CONTROL ENGINEERING COURSE CODE BDA 30703 / BDA 3073

+xr (')

k M_1 kg

FIGURE Q3

19n

ff,

I

lEB

H r?o

E

st

H 160

fr

158

14[! 5F

*

t'l

lgn

EH

E

1?0

FIGURE 05

8DA30703 / BDA 3073

FINAL EXAMINATION

COURSE NAME : CONTROL ENGINEERING COURSE CODE : BDA 30703 / BDA 3073

c(s)=

s2 +2(a4s + cE Step

"Q) I

'r

-P

,s

--L=o

,,Jt-( o)d

Ramp tuQ) I

)

-( a) ,s-

- rn(xosltoo) -t' 1

: ,s ,S-

Impulse t(r) I

T,

44

Sinusoid sinattuQ) a)

ean od _;--T

s' + e)'

T, _1.32r

a)n Cosine cosattu|) ^S

1)

s'+o-

Root Locus

I

ll pole lengths Differentiation (quotient rule)

^=1e5p5X=n".-l.nelht If u = f(x)andu = S(")then

fRnite poles - finite zeros

I d ( _ v(au I d*)- tu)- s(')f'(')- f(')g' (')

6

"

_L/

a

'

#finite poles - #finite zeros

Q.n +t)n

d.l;)=T

"\ "@ I

w

e

- a-

#finite poles - #finite zeros

rc(s)a(s)- -t -r t(Zk+ t)tto'

e =Zfuite zeroangles - f nnite pole angles

Steady-state Error

,(*) = r,,"0(*)=,

.#O ; K p=

lsc(,)

,(*) = €,o^p(*) = ) Kv = l,t$tcG)

1,**()

,(*) = e parabota(*)- ) Ko- [!8s'zc(s)

E"*o

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