CONFIDENTIAL

EM/JAN 2012/MEC522

UNIVERSITI TEKNOLOGI MARA FINAL EXAMINATION

COURSE COURSE CODE EXAMINATION TIME

CONTROL ENGINEERING MEC522 JANUARY 2012 3 HOURS

INSTRUCTIONS TO CANDIDATES 1. 2. 3. This question paper consists of five (5) questions. Answer ALL questions in the Answer Booklet. Start each answer on a new page. Do not bring any material into the examination room unless permission is given by the invigilator. Please check to make sure that this examination pack consists of: i) ii) iii) the Question Paper an Answer Booklet - provided by the Faculty a Semilog Graph Paper - provided by the Faculty

4.

DO NOT TURN THIS PAGE UNTIL YOU ARE TOLD TO DO SO

This examination paper consists of 7 printed pages
Hak Cipta Universiti Teknologi MARA

CONFIDENTIAL

CONFIDENTIAL

EM/JAN 2012/MEC522

QUESTION 1 a) Based on your understanding in control system, briefly describe the physical meaning of: i) ii) observability controllability (4 marks) b) A DC motor develops Tt N-m of torque at speed of OJ1 rad/s when ea volts is applied. The motor drives an inertia load of JL kg-m2 through a gear train as shown in Figure Q1(b).

^VNAAAAA +

Lywwwu
R

vwwwv

^,0!

Figure Q1(b) The torque generated by the motor is given by T> = K,ia and the back electro-magnetic force (e.m.f) is related to the rotational velocity by the following expression Vb=Kbcox.

Hak Cipta Universiti Teknologi MARA

CONFIDENTIAL

CONFIDENTIAL where

EM/JAN 2012/MEC522

Kb is the electromagnetic force constant of the motor. K, is the torque constant of the motor Tx is the torque induced by motor cox is the angular speed of the motor R is the electric resistance of the motor ea is the voltage applied to the motor ia is the current flowing through the motor Vb is the back e.m.f generated by the motor Ju is the moment of inertia of the motor N, and N2 is the number of teeth for gear train JL is the moment of inertia of the rotational system Kn is the stiffness constant of the rotational system (n = 1, 2, 3..) Dn is the damping of the rotational system (n = 1, 2, 3..) If ea and 92 are the input and output respectively, i) ii) iii) Determine differential equation of the system and state all your assumptions. Find the transfer function, G(s) = 02(s)/Ea(s).

From the transfer function representation, develop state space equations. (16 marks)

Hak Cipta Universiti Teknologi MARA

CONFIDENTIAL

CONFIDENTIAL QUESTION 2 a)

EM/JAN 2012/MEC522

Figure Q2(a) below shows a first-order system where C and K are the damping and spring stiffness coefficient respectively. Derive the transfer function G(s) ii) iii) Xojs)

Xi(s)

Determine the time constant of the system. Explain the effect values of C and K to the speed of the response. (6 marks)

{t
b)

VVNAAx. Figure Q2(a)

Figure Q2(b) show a block diagram of dc-motor control system with velocity feedback using tachometer where Ka is the amplifier gain, Km motor torque constant and kt is represents tachometer constant. The input of the control system is a unit step input and the value of Km =25 Nm/A. i) If there is no tachometer feedback (kt= 0), and the amplifier gain Ka= 1, calculate the percentage of overshoot and settling time of the control system. If there is a tachometer feedback, find the value of Ka and kt so that a percent overshoot of 25% and settling time of 0.2 second can be achieved. Evaluate the steady state-error for both part i) and part ii) above. Compare the performance of the control system with the tachometer feedback and without the tachometer feedback. (14 marks)

ii)

iii) iv)

Hak Cipta Universiti Teknologi MARA

CONFIDENTIAL

CONFIDENTIAL

EM/JAN 2012/MEC522

R(s)

*{g)-^

Figure Q2(b)

QUESTION 3 a) Explain and discuss the term bandwidth and its significance in control system. (4 marks) Two different control system are represented by the following transfer functions. Ri(s) ;

b)

1 s+l System 1

0,(8)

a)

1 45 + 1
System II

C2(s)

i)

Draw Bode diagrams for the two systems above. Determine the bandwidth for each of systems Sketch the response c(t) of the system if the input r(t) is step input. For each of the transfer functions, determine the time required for the output to reach and stay within the 2% of the final value. Based on your answer in part i) and ii), discuss the effect of system bandwidth to the speed of the response? (16 marks)

ii)

iii)

Hak Cipta Universiti Teknologi MARA

CONFIDENTIAL

CONFIDENTIAL

EM/JAN 2012/MEC522

QUESTION 4 a) Discuss the effect of adding poles and zeros to G(s)H(s) on the root locus. (5 marks) b) A unity feedback control system has a simplified open loop transfer function given as

GH(s) =
(5 + 1X5 + 4X5 + 5)
where K is a positive constant. i) Sketch the root loci as K increases from zero to infinity showing all the necessary steps. At what value of K, the system becomes unstable. At the point of instability, determine the frequency of oscillation of the system. To ensure the system is stable for any value of K, what should be included to the system? (15 marks)

ii) iii) iv)

Hak Cipta Universiti Teknologi MARA

CONFIDENTIAL

CONFIDENTIAL QUESTION 5 a)

EM/JAN 2012/MEC522

Briefly explain the advantages of Nyquist plot. (5 marks)

b)

A unity feedback control system has a simplified open loop transfer function given as

G(s) =

* ,y(0.5s + l)(0.02s + l)

where K is a positive constant. i) ii) iii) Determine the value of K so that gain margin (GM) is 20 dB. What will be the K if the phase margin (PM) is 30? What is the maximum value of K before the system exhibits unstable response? (15 marks)

END OF QUESTION PAPER

Hak Cipta Universiti Teknologi MARA

CONFIDENTIAL