Key for Minor-1: Date- 18th Sep-2021.

Q.1. [ 3 Marks ]

Desi red Input Error Aileron Roll Roll

roll volta ge volta ge position rate angle
angle
+ Aileron Aircraft
Pilot Integrate
position dyna mi cs
contro ls
contro l
-

Gyro
Gyro vo ltage

Q.2. [3 Marks]
Actual
Commanded Isoflurane blood
blood pressure + concentration pressure
Vaporizer Patient
-

Q.3. [ 5 Marks]
Draw the freebody diagrams,

[1 Marks]

Write the equations of motion from the translational and rotational freebody diagrams,

(Ms2+2fv s+K2)X(s) -fvrs(s) = F(s)

-fvrsX(s) +(Js2+fvr2s)(s) = 0
 Solve for (s),
Ms2+2fvs+K F(s)
2
-fvrs 0 fvrF(s)
(s) = = 3 2
Ms2+2fvs+K -fvrs JMs +(2Jfv+Mfvr2)s2+(JK +fvr2)s+K fvr2
2 2 2
2
-fvrs Js +fvr2s

[2 Marks]
(s) fv r
From which, = .[1 Mark]
F(s) JMs3+(2Jfv+Mfvr2)s2+(JK2+fv2r2)s+K2fvr2

Q.4.

At steady state the input is  9V and the output is  6V Thus G(0)=6/9=0.667

The maximum peak is achieved at  285 with a %OS = (7.5/6-1)*100 = 25%

This corresponds to a damping factor of

− ln(%OS / 100) 1.3863

 = =  0.4 [2 Marks]
 2 + ln 2 (%OS / 100)  2 + 1.9218

 
n = = = 12027.2 [1 Mark]
Tp 1 −  2 (285 )(0.9165)

So the approximated transfer function is

K n2 0.667 *12027.2 2 96.5 *10 6

G( s) = = =
s 2 + 2n s +  n2 s 2 + 2 * 0.4 *12027.2s + 12027.2 2 s 2 + 9622s + 14.5 *10 7

[2 Marks]

Q.5.

Push G1(s) to the left past the pickoff point.

 H1

-
+ +
G1 G2 G3

+
1
G1

[2 marks]

Thus, T (s) = 
 G1  
G +
1  (G G + 1)G3
G3 = 1 2
   [3 marks]
 1 + G1 H1  
2
G1  (1+ G1 H1)