Report Title

Control Engineering
Report Power 3

Student Name: ‫ئارەزوو عبدالرحمن علی رشید‬

Class: Fourth Year/ Power

Course Title: Control Engineering
Department: Electrical Engineering

College of Engineering
Salahaddin University-Erbil
Academic Year 2019-2020

1
Report Date : 6/6/2020
Report Due Date : 9/6/202

In you report answer the following questions.

Do not copy and paste from any other sources, make your own works
Do not image your report, scan it and send back to me through viber or by email
(fadhil.aula@su.edu.krd)

Q1- Draw the block diagram and find the transfer function 𝜃𝑐 /𝜃𝑟 for the remote-control
positional servomechanism shown in the following figure.

Solution :-

By taking Kvl 𝜃r = if
𝜕𝑖𝑓
Ef = Rf×if +Lf 𝜃r = Kfif
𝜕𝑡

Vf(s) = Rf×If(s) = SLF×IF(s)

Vf (s) = If(s) ] Rf + SLF [

𝑉𝐹(𝑠)
IF(s) = 𝑅𝑓+𝑆𝐿𝑓

𝜏m𝛼𝜃r ia

𝜏m = Km 𝜃r Ia

𝜃 = angular misplacement

J = MOI
2
 B = Control of friction

𝜏m = KmkfIfIa km&Ia=constant k = km Ia

𝜏m = kKfIf

𝜕2 𝜃 𝜕𝜃
𝜏m = J 𝜕𝑡 2 +B 𝜕𝑡

By applying Laplace transformation

𝜃c(s) =Kf If (s)…………..1 F(t) = F(s)

𝐸𝑓(𝑠) 𝑑𝑛 𝐹(𝑡)
If(s) = 𝑅𝑓+𝑠𝑡𝑓 …………… 2 = 𝑆 𝑛 F(s) - 𝑠 𝑛−1 F(0)
𝑎𝑡 𝑛

𝜏m(s) =kkf If (s) ………… 3 −𝑆 𝑚−2 F(0)

𝜏m(s) = Js2 𝜃(s) +Bs 𝜃(s)………4

𝜏m(s) = 𝜃𝑐(s) ]Js2 + SB[

Putting if in Eq2

E𝑓(𝑠)
𝜏m(s) = kkf ( 𝑅𝑓+𝑠𝐿𝑓)

𝑣𝑓(𝑠)
𝜃c(s) ]Js2 + SB[ = Kkf 𝑅𝑓+𝑠𝑡𝑓

𝜃𝑐(𝑠) 𝑘𝑘𝑓
= 𝑠(𝑆𝐽+𝐵)(𝑅𝐹+𝑆𝐿𝐹)
𝐾𝑟𝜃𝑟(𝑠)

𝜃𝑐(𝑠) 𝑘𝐾𝑟𝐾𝑓
= 𝑆(𝑆𝐽+𝐵)( 𝑅𝐹+𝑆𝐿𝐹 )
𝜃𝑟(𝑠)

𝜃𝑟 IF 𝜏m 𝜃𝑚
1 kKrKf 1
𝑅𝐹 + 𝐿𝐹𝑆 𝐽𝑠 2 + 𝐵𝑚𝑠

3
Q2- Consider the following Signal-Flow Graph: Find the following:

1. Transfer function Y(s)/R(s)

Solution :-

Step -1- forward path

1 1 1 2
F1 = 1× 𝑠 × 𝑠 × 𝑠 × 2 = 𝑠3

1 5
F2 = 1 × 𝑠 × 5 = 𝑠

1 1 6
F3 = 1× 𝑠 × 𝑠 × 6 = 𝑆2

Step 2 :- loops single loops

1 10
L1 = 𝑠 × -10 = - 𝑠

1 1 −𝑘
L2 = 𝑠 × 𝑠 × -k = 𝑆2

1 1 1 −3
L3 = 𝑠 × 𝑠 × 𝑠 × (-3) = 𝑆3

step 3- calculate ∆

∆ = 1 - ∑single Loops

∆ = 1- ]L1 + L2 + L3[
10 𝐾 3
∆ = 1- [ − − 𝑆2 − 𝑆3]
𝑆

10 𝐾 3
∆ = 1+ + 𝑆2 + 𝑆3
𝑆

Step 4- calculated ∆1 , ∆2 , ∆3

∆1 = 1- ∑Loops not touching forward path F1

∆1 =1- 0 = 1

∆2 =1- ∑Loops not touching forward path F2

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∆2 =1- (0) = 1

∆3 =1- ∑Loops not touching forward path F3

∆3 =1- (0) = 1

Step 5 :- calculated transfer function

𝐶(𝑠) ∑𝑓𝑖 ∆𝑖 𝐹1 ∆1+𝐹2 ∆2+𝐹3 ∆3
T.F = 𝑅(𝑠) = =
∆ ∆

2 5 6
(1) + (1) + 2
𝑆3 2 𝑆
T.F = 10 𝐾 3
1+ + 2+ 3
𝑆 𝑆 𝑆

5𝑆 2 + 6𝑆 + 2
T.F =
𝑆 3 + 10𝑆 2 + 𝐾𝑆 + 3

2. State-space model ] X [ = Ax + Bu

Solution:- Y = Cx + Du

X1 = X2

X2 = X3

X3 = - 3X1 – KX2 -10X3 + R(s)

State space Equation

𝑋1 1 0 1 𝑋1 0
[𝑋2] = [ 0 0 1 ] [𝑋2] + [ 1 ] [𝑢]
𝑋3 −3 −𝐾 −10 𝑋3 𝑅(𝑠)

X A X B u

Y(s) = X12 + X26 + X35

Y(s) = 2X1 + 6X2 + 5X3

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 𝑋1
[𝑌] = ] 2 6 5 [ [𝑋2]
𝑋3
Y C X

3. Range of K for stabilize the system.

5𝑆 2 + 6𝑆 + 2
T(s) =
𝑆 3 + 10𝑆 2 + 𝐾𝑆 + 3

𝑆3 1 K 0

𝑆2 10 3 0

𝑆1 10 (𝐾) − 3(1) 0
10

𝑆0 10𝐾 − 3 0
(3) − (0)
10 =3
10𝐾 − 3
10

10K-3 > 0 For stable system

3
10K > 3 K>
10
3
K> For unstable
10
3
K<
10

For imaginary s.s

3
K=
10

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Q3- For the unity feedback system shown in the following control system, find the gain
and pole location of the compensator so that the overall closed-loop response to a unit-
step input has an overshoot of no more than 25%, and a 1% settling time of no more than
0.1 sec. Then find the steady-state error for the input signal

𝑟(𝑡) = 5 + 10𝑡 + 20𝑡 2 .

Solution:

𝑌(𝑆) 100𝐾 100𝐾

= = 2
𝑅(𝑆) 𝑒 2 +(25𝛼)𝑠+25𝛼+100𝑘 𝑆 2 +2(𝑤𝑛 𝑠+ 𝑤𝑛

1
R(s) = 𝑆 unit step

Mp < 25%

T1% < 0.1 sec

Solve for ∁ :

2
Mp = 𝑒 −𝜋(√1−∁

(𝑖𝑛 𝑚𝑝 )2
∁ = √𝜋2 +(𝑙𝑛 𝑚 2 > 0.4037
𝑝)

Solve 𝑤𝑛 : 𝑒 −∁𝑤𝑛 𝑡𝑠 = 0.01 For a 1% settling time

4.605
𝑡𝑠 < = 0.1
∁𝑤𝑛

𝑤𝑛 ≈ 114.07

2∁𝑤𝑛 = (25 + 𝑎)

A = 2∁ 𝑤𝑛 − 25 = 92.10

𝑤𝑛2 = (25a + 100 K)

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 𝑤𝑛2 − 25𝑎
𝐾= ≈ 107.09
100

B- Steady state for input signal

Answer: First we need to verify the stability of the system 𝑟(𝑡) = 5 + 10𝑡 + 20𝑡 2

5 10 2∗20
R(s)=𝑠 + 𝑠2 + 𝑠3

5 5 𝑎5
For 5 u(t): e(∞)=𝑒𝑠𝑡𝑒𝑝(∞) =1+lim 𝐺(𝑠) = 100𝑘 = 𝑎+4
𝑠→0 1+
25𝑎

10 10
For 10t u(t): e(∞)=𝑒𝑟𝑎𝑚𝑝(∞) =lim 𝑠𝐺(𝑠) = =∞
0
𝑠→0

40 40
For 20𝑡 2 u(t): e(∞)=𝑒𝑝𝑎𝑟𝑎𝑏𝑜𝑙𝑎(∞) =lim 𝑠2 𝐺(𝑠) = 0
=∞
𝑠→0