EE207/PS2

EE207 Control Engineering

Practice Problem Set 2

1. A hydraulic system has elements analogous to the

P1 P
s C
resistor, inductor, and capacitor of an electrical
Q R I circuit. These are respectively known as hydraulic
P resistor (R, attributable to friction and turbulence
P
internal to the fluid), hydraulic inertor (I, attributable
SUMP to mass of fluid in flow - which is never zero !), and
P hydraulic capacitor (C, attributable to storage and
0
compression). Consider the pressure sensor shown in
Fig. P1, which is used to obtain a measurement Ps of a source pressure PP, both relative to a low sump pressure
P0. What is the transfer function between the actual and sensed pressure values ? Let the fluid flow in the pipe
be given by Q, as shown.

P2 1
P
S C IC $ s 2 + RC $ s + 1
R
1
Q
S R (A) 2. The fluid from a constant source of flow QS is
SUMP modulated for pressure using a valve, the flow Qv
P through which is a nonlinear function of the pressure
0
differential across it, given by
Qv = KA $ P0.5
where A is the valve cross section area controlled by a servomechanism. Obtain the nonlinear equation that
determines pressure PS in presence of effective resistance R and capacitance C. Linearise the equation about a
set point given by pressure PS0 and valve opening A0.
P3 ε P S (s) −K $ [P S0 − P 0 ] 0.5
=
A(s) Cs + 0.5KA 0 $ [P S0 − P 0 ] −0.5
ω, Τ
B 3. An electromagnetic speed sensor, mounted on the rotary part
of a system, is in the shape of a conducting disk, across
rD
which a magnetic field of uniform flux density B is applied
(Fig. P3). With the rotary system shaft driven at torque T
Nm and angular speed ω rad/s, obtain an expression for the
B
rs emf ε(t) between brushes located at the disk periphery
(radius rD) and the shaft surface (radius rs). The electrical
signal serves as a measure of the speed signal ν(t).
[(t) = (B/2 )(r 2D − r 2s ) $ *(t) ]

4. Fig. P4 shows the cross STEAM FLOW

0.5mm air gap COIL
section for one type of
(500 turns)
electromechanical
actuator that is used in P4
large steam flow CORE
systems. It consists of a SPRING
coil of 500 turns around PLUNGER (mass M)
a soft iron plunger of
radius 2cm, and an air (constant K)
gap annulus of 0.5mm CORE
around it. The plunger 2 cm
has mass M, and is SUPPORT 5cm
x STEAM FLOW
supported by a spring of
 EE207/PS2
constant K. The position of the plunger beyond the coil is given by a variable x(t), which in the rest position
shown in the figure, has a value x0. If the electromagnetic force on the plunger by a DC current i(t) in the coil is
given by ½i2(t).dL(x)/dx, and if this tends to draw the plunger inwards towards a minimum reluctance position,
obtain the nonlinear system dynamic equation of this actuator. Linearise the equation about x0 and current i0,
and obtain the transfer function for small valve opening in response to small current.
−1
+ + 6332i 0 6332i 20
2 $ Ms + K +
2
R (s ) a c Y (s )
+ (0.05 + x 0 ) (0.05 + x 0 ) 3
+ +

5. Fig. P5 shows a system involving forward transfer

b d
functions a and c, together with feedback transfer
functions b, d, and e. Obtain the sensitivity transfer
e P5 functions of the system with respect to each of the
feedback blocks.
ab(1 − cd ) cd(1 − ab ) eac
, ,
(1 − ab )(1 − cd ) − eac (1 − ab )(1 − cd ) − eac (1 − ab )(1 − cd ) − eac

6. As we all know, automobile designers take pains to make the passenger

comfortable by incorporating appropriate tires, shock absorbers, and leaf
P6
springs in a vehicle configuration. However one parameter that they never can
freeze on is the weight of the passengers !! That remains arbitrary, and hence
M1
the objective of this analysis. x1

The model in Fig. P6 represents the dynamics of one wheel of a four-wheeler

automobile. M1 is roughly ¼ the mass of the automobile (with the questionable D1
K1
weight of passengers included !). K1 and D1 respectively represent the leaf
spring and shock absorber associated with a single wheel. M2 is the mass of
the wheel, and K2 represents the tire stiffness. Obtain the transfer function of
X1(s)/X(s) - which represents the effect of the bumpiness of the terrain on the M2
passenger - and most important of all, its sensitivity to M1. x2
−M 1 s 2 (M 2 s 2 + D 1 s + K 1 + K 2 )
S M1 =
G(s)
(M 1 s2 + D 1 s + K 1 )(M 2 s 2 + D 1 s + K 1 + K 2 ) − (D 1 s + K 1 ) 2
K2