Mechanical Engineering 4R03 Mechanical Controls Midterm Test IIT 100 Marks, 15% of Final Grade Student Name: Student ID #: Fall Term: ‘Thursday 31% March, 2016 Duration of Exam: —5:30- 7:00pm (1 Hr and 30 minutes) Special Instructions: Please note the marks allocated to each question on the left hand side. ‘A calculator and a one page (2 sides) crib sheet 8/2xI1 may be used. = Submit crib sheet with test paper. If required assume gravity to be 9.81m/s? ‘*** Please provide sufficient detail in your solution to follow the answer as a correct answer is not necessarily worth full marks! ‘Summary of Grades: Question 1 Question 2 ‘Question 3 Final. Page | of 8TABLE 2.1 Laplace transform uble Quotient Rule: Item no. ‘flo FO) 1 5) : 2. aft) : 5 1 2 tu) a 1 4. Puc) a 1 5, etude) a 6 sin oru(t) 7a 7. 0s u(t) TABLE 2.2 Laplace transform theorems Item no. Theorem Name 1 LUFO) = Fls) = JX feat Definition 2. #Rf()| = kF(s) Linearity theorem 3. SUN) +0] = Fils) + als) Linearity theorem 4. le") = Fs +a) Frequency shift theorem 5 LUft-T)) =e*TF(s) Time shift theorem e LIF(a@)| = ir(2) Scaling theorem 7 g (7 = sF(s) —f0-) Differentiation theorem ef 2 ‘ Differentiation th 8 2\a =F (s) -sf(0-) - f'(0-) ifferentiation theorem a ¥ (iz =s"F(s) — yey epE1Q_) Differentiation theorem ar rat 10 SUE pina] = 7 Integration theorem s i, floc) = lim sF(s) Final value theorem! 12. £(0+) = lim sF(s) Initial value theorem? ‘For this theorem to yield correet finite results, all roots of the denominator of F(s) must have negative real parts, and no more than one can be at the origin. *For this theorem to be valid, f(#) must be continuous or have a step discontinuity at ¢ = 0 (that is, no impulses or their derivatives at ¢ ~ 0). Page 2 of 8Question 1 (30) Construct the Bode gain and phase diagrams of the following open loop transfer function G(s) on the graphs supplied on page 4. Clearly show the break frequencies as well as the slopes on the Bode gain and phase diagrams. On this page, list the break frequencies as well as the DC gain of the transfer function G(s). _ 1000(s +0.1) AS) =e 10)641) Brea te pow & be Jaw . ols A S(Z r/\(sr7) fa (2) (2) (2) Ovi, @ , 7 o ? red/s JO =~ 2048 i Page 3 of 8) i, @) pdbidec @ _ 90d bfolee 2 ey wobec : tz) -20 t25 oo Ov t we eo psdeglden Oder {aes she (2) =“ eae C2 — 190 fay. _ 17 (2) 360. ool ol Page 4 of 8Question 2 (30) Construct the root locus diagram ofthe following open loop transfer function. Calculate the break in/out points, the asymptotes (angles and intersect location), and show these in your root locus plot. 1 © s(s +5)(s-+10)(s- +20) Gs) pasyorpls 14) Page 5 of 8i facts of NED No) =! ANY) ads at fale fees = 4 b= 22107 ~ a P (+) Ca ssymplole = S fale pokes - & fit yo _ - BAN A Ba > be) = S4 43557, 350574 so00s, bis) 5 p82 ees FOS pO0O- ds ( S 1 63 7% Mak Sf ae hh Pe, wpe fom= OC k20 Gz Dw, ket One Yt () het Ghee BT 4:3 Exc A, 0~5o 0-26 Afaale poles — Aprile Jers 4¥ 2 (= = 32 --6% 4 Page 6 of 8 » ooQuestion 3 (40) Design a controller for the following open loop transfer function to achieve a damping ratio of 0.707, a settling time of 0.5sees and zero steady state error. wy i i 9) = 55s + 106420) (A marty) ie ee as <> -fo,=-% (2 mwks) 6 musts) Sen Yr § 20. 40% => Sz -8thS (2mere) Oyj = 80 + BE + 0. 56 + 45.96 4 B69 = 145, 21° (2 mde) ‘ Pha cima, a zero at -0.\ (ann vale oom -o.\ t-)u acceplial ) tecluees angle deficiency, te 40.54° (2 marks) « Anake ole ecieners 4 host coull tn a zero aby og % = 8 SC macs . Fan (40.5%) EE Bay y Page 7 of 8- Conkal situctan become. Ge = (S401) CS4 VF 34) C2 marks) Toc ec a Sz-94 48 K => CS wos) = ee 22 (S401) CS4 1¥.34) \-ese is) x | asa ye] Var x {any x fais Gy x (aay Vea. @ < {Gan 72. 23.86 ($40.1) (3+ 8-34) > (2 mack) Page 8 of &