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M 2 KG, Viscous Friction Coefficients B B

This document contains 4 exam problems related to control systems. Problem 1 involves finding transfer functions and steady state responses for a mechanical system. Problem 2 involves deriving the mathematical model for an electro-pneumatic clutch actuation system. Problem 3 involves finding closed-loop transfer functions, stability margins, and steady state responses for a feedback control system. Problem 4 involves analyzing a closed-loop system using a root locus plot to determine controller gain and step response characteristics.

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33 views3 pages

M 2 KG, Viscous Friction Coefficients B B

This document contains 4 exam problems related to control systems. Problem 1 involves finding transfer functions and steady state responses for a mechanical system. Problem 2 involves deriving the mathematical model for an electro-pneumatic clutch actuation system. Problem 3 involves finding closed-loop transfer functions, stability margins, and steady state responses for a feedback control system. Problem 4 involves analyzing a closed-loop system using a root locus plot to determine controller gain and step response characteristics.

Uploaded by

Imran
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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Exam 3 (5/5/2020)

1. The right figure shows a translational mechanical system. The


input force is a sinusoidal function. The system has an inertia
m = 2 kg, viscous friction coefficients b1 = b2 = 3 N-s/m, and
spring constant k = 200 N/m. The system model has been
developed before as:
m z̈ +(b1 +b 2) ż + kz=f a
(a) Find the expression of transfer function for G(s) =
Z(s)/Fa(s). (2)
(b) Find the expression of transmissibility under the force
excitation that relates the force transmitted to the base by the spring (ft = kz) to the
applied input force fa. (8)
(c) Compute magnitude of the force transmitted to the base at steady state with an input
f a=8 sin 7 t N and the ratio of input frequency and the natural frequency (ω/ωn). (10)

2. The figure below shows an electroneumatic clutch actuation system. When the supply valve
is open, high-pressure air from the supply tank flows through the valve to the cylinder
chamber. The constant supply pressure is Ps and the ambient pressure is Patm. The supply
valve has a fully open orifice area A0. Force FL is applied at the piston. The piston has a mass
m, and cross-sectional area A1 at the left side and A2 at the right side. The chamber volume is
V = V0 + A1x, where V0 is the volume when the position displacement x is zero. Derive the
mathematical model of the electropeumatic system when the supply valve is open and the
exhaust valve is closed. Assume the supply valve flow is always unchoked.
(a) Obtain the mathematical mode of the chamber when the supply valve is open. (5)
(b) Obtain the expression of mass flow rate through the supply valve. (5)
(c) Obtain the mathematical model of the piston. (5)
3. A general unit feedback control system is shown in Fig. 1 and its open-loop transfer function
and closed-loop transfer function bode diagrams are shown in Fig. 2 with K = 4. The transfer
function for controller is G c ( s )=K and the transfer function for plant is
1
G p ( s )= .
s (s+2)(s +6)

Fig. 1 A unit feedback control system

Bode Diagram Bode Diagram


50 0
Magnitude (dB)

Magnitude (dB)
0
-50

-50

-100
-100

-150 -150
-90 0

-135
Phase (deg)

Phase (deg)

-90
-180
-180
-225

-270 -270
10-1 100 101 102 103 10-2 100 102
Frequency (rad/s) Frequency (rad/s)
Fig. 2 Open-loop transfer function bode diagram (left) and closed-loop transfer function bode
diagram (right) with K = 4

(a) Determine the closed-loop transfer function T(s) = Y(s)/R(s). (5)


(b) Find the gain margin and phase margin from Fig. 2. Estimate the damping ratio of the
closed-loop system is ζ. (10)
(c) How would increase K to K = 40 change the gain margin? (5)
(d) Determine the band width of the closed-loop system. (5)
(e) Determine the steady state response yss for a step input r(t) = 3. (5)
(f) Determine the steady state response yss for a sinusoidal input r(t) = 3sin5t. (10)
4. A simple closed-loop system with a proportional controller is shown in Fig. 3 and its root
locus is shown in Fig. 4.

Fig. 3 A unit feedback closed-loop control system

Fig. 4 Root locus plot of the closed-loop control system with K as a variable

(a) Which type of controller is used in this closed-loop system? (5)


(b) Write down the open-loop transfer function G(s) and determine the open loop poles. (5)
(c) Which system type does the forward loop transfer function have? Estimate the steady
state error of the closed-loop system for K = 4 if the reference input is a ramp function
r(t) = 2t. (5)
(d) From Fig. 4 find the closed-loop roots with an undamped natural frequency ωn = 2 rad/s.
Compute the corresponding controller gain K using the root-locus magnitude condition.
(6)
(e) Estimate unit-step response characteristics of the closed-loop system of (d), such as
overshoot, peak time, settling time and steady-state response. Hand sketch the output y(t)
for a unit step reference input. (14)

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