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CONFIDENTIAL

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UNIVERSITI TUN HUSSEIN ONN MALAYSIA

FINALEXAM
SEMESTERI
sEssroN 2012 12013

COURSENAME CONTROL ENGINEERING


COURCE CODE BDA 30703 / BDA 3073
PROGRAMME BACHE,LOR DEGREE OF
MECHANICAL ENGINEERING
EXAMINATIONDATE JANUARY 2OI3
DURATION 3 HOURS

INSTRUCTION: I . PART A (COMPULSORY) : ANSWER


ALL QUESTIONS
2. PART B (OPTIONAL) : ANSWER

TWO (2) QUESTIONS ONLY

THIS EXAMINATION PAPER CONTAINS SEVEN (7) PAGES

CONFIDENTIAL
BDA30703 / BDA 3073

PART A (COMPULSORY): AI\ISWER ALL THE QUESTIONS

Ql. (a) A Heating, Ventilation and Air-Conditioning (HVAC) consultancy is recruiting


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.

(ii) Identiff the type of control system used if a room temperature is


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

Ql(bxr) and show that this system is analogous to an electrical system in


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

Q2. (a) Explain the purpose of modelling a dynamic system mathematically.


(2 marks)

(b) A movement of a typical mechanical system is being modelled as in


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)

(ii) sketch the block diagram of the system.


(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)

PART B: AIISWER TWO (2) OUT OF THREE QUESTIONS

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

FIGURE Q3 using the block diagram reduction or signal flow graph.


(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

seconds for a system,

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

system step response, and


(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

time (q) *a steady-state error (r",) in the graph.


(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

SEMESTER / SESSION : SEM T I2012/2013 PROGRAMME 3 BDD

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

(ii)
FIGURE 01 (b)

Frictitrnless

FIGURE 02
BDA30703 / BDA 3073

FINAL EXAMINATION

SEMESTER / SESSION : sEM I /201212013 PROGRAMME 3 BDD

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

SEMESTER i SESSION : sEM | /2012/2013 PROGRAMME : 3BDD


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

Time Response Table 1.1 Test waveforms used in control systems

,,t Name Time function Laplace transform


c(s)=
s2 +2(a4s + cE Step
"Q) I
'r
-P
,s
--L=o
,,Jt-( o)d
Ramp tuQ) I
)
-( a) ,s-

%os= looe I'tlZ ) Parabola T, 1

- 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