Control and Measurements

Tutorial Sheet / Steady-State Operation

Q1. A typical family of steady-state operating curves for a speed control system for a
diesel or turbine is shown in the figure. Determine the steady-state equation for
operation in the vicinity of point A. If this were an open loop rather than a closed loop
system, what would be equation for steady state operation about point A?

Q2. For the position control system with a (P+D) controller shown in the figure, with
10
Kp = 2, Kd = 0.2 and J=0.3. Take B=KH=1and motor T. F. = [ ]:
1+0.01𝐷

a. Determine the slope of the controller lines, the slope of the system to be controlled
lines and sketch these lines.
b. Determine the steady-state equation of operation.
Q3. The block diagram of a feed back control system for operation about a reference
operating point is shown in the figure. The steady state equation of operation is:
𝜕𝐶 𝜕𝐶
𝐶= | . 𝑣 + | . 𝑢 [𝐵𝑒𝑐𝑎𝑢𝑠𝑒 𝐶 = 𝐶(𝑉, 𝑈)]
𝜕𝑉 𝑈 𝜕𝑈 𝑉
𝜕𝐶
a. Determine the value of KG1, so that, | = 0.05.
𝜕𝑈 𝑉
𝜕𝐶
b. Determine the value of A, so that, | = 1.
𝜕𝑉 𝑈
c. For the system to be controlled, what is the slope of the lines of constant U.
d. For the system to be controlled, determine the horizontal spacing (∆𝐶) between lines
of constant U, where ∆𝑈 = 10 𝑢𝑛𝑖𝑡𝑠.

Q4. The steady-state operating curves for a system to be controlled are shown below:
a. Determine B and KG2 at the reference operating point P.
b. Determine the required slope of the droop lines (−𝐾𝐺1 𝐾𝐻 ) such that the variation
in (C) will not exceed (2%) of its reference value [c=0.02 (200)=4 units] when
the external disturbance varies from its reference value to its maximum value
[u=Umax-Ui=20 units].
Q5. The steady-state operation curves for a unity feedback system are shown in the figure.
𝜕𝐶 𝜕𝐶
a. Evaluate B, KG1, KG2, KH, AKG1, | & |
𝜕𝑉 𝑈 𝜕𝑈 𝑉
b. If the slope of the droop lines is increased by a factor of (10), what steady-state error
results for V=400 [v=0], when (U) changes from (12) to (10) [u=-2].