Control Tutorial Answers 1
Control Tutorial Answers 1
Imperial College of Science, Technology and Medicine
Department of Mechanical Engineering
3M Machine System Dynamics
Control Tutorial 1
Modelling of Dynamic Systems
1. For the system shown below simplify the block diagram and find the relationships y/u and x1/u on
terms of H1, H2, G1, G2 and G3.
Answer
Equivalent system:
or
Hence:
1
1
1
2. The liquid‐level control system maintains the required level of the liquid in the container. The
automatic controller produces a signal to actuate the pneumatic valve proportional to the difference
between a desired and the actual level. A schematic diagram of the control system is shown below.
Draw the corresponding block diagram of this system.
Answer
3. Satellite tracking antenna is powered by an electric motor through a 100:1 speed reduction gearbox.
The motor produces a torque in response to the power amplifier voltage. The mechanical system
may be represented by a moment of inertia J and it experiences viscous friction torque , where
is the angular position. The antenna is also subject to external forces due to wind which result in a
torque on the driving mechanism. The amplifier voltage is proportional to the error between the
actual position θ and the demanded θ . Draw the block diagram of this system showing relevant
signals, including , , , and .
Answer
θ θ θ
1
dt dt
J
4. The main elements of a position control system are shown in the figure in block diagram form. The
input and output potentiometers each have a gain K, and gain of the amplifier is G.
Write down the transfer function between the input ( ) and the output ( ).
Answer
o GK
4
i s 3s 2.125s 2 0.25s GK
3
5. A rotary electromechanical system has transfer function
8
4 5
The output shaft angle is controlled using a closed loop system that also employs velocity
feedback, such that
Draw the block diagram of this system showing all relevant transfer functions and signals.
Write down the transfer function between the input ( ) and the output ( ).
Answer
o 8K1
3
i s 9s (20 8K 2 )s 8K1
2
6. A satellite‐tracking antenna system has a constant inertia J rotating in bearings which give a viscous
damping coefficient c. The antenna position is to be controlled by an electric servo system which
consists of:
a potentiometer to give a voltage proportional to the demanded position
a second potentiometer to give a voltage proportional to the actual position
an amplifier which produces an output voltage proportional to the error
a motor which exerts a torque proportional to the voltage applied to it.
(a) Draw a block diagram (not an electrical circuit diagram), showing how these elements would be
arranged to give a working system, and show in each block the appropriate transfer operator.
(b) Derive the open loop transfer function and the closed loop transfer function
Answer
Potentiometer Amplifier Motor Potentiometer
vi e T o vo
i
1 1
Kp Ka Km Kp
+
-
Js c s
1
7. Figure below shows the schematics of a field‐current controlled d.c. electric motor. In this type of
motor, the control voltage may be used to efficiently control the motor speed, while the
armature current is held constant. The current in the field winding is given by:
where and are the resistance and self‐inductance of the field circuit. The torque developed by
the motor is given by
and the equation of motion of the motor armature is
Where is the angular position of armature, is moment of inertia of armature + load and is
viscous friction coefficient of armature bearings.
(a) Derive the transfer function .
(b) Draw the corresponding block diagram showing signals , , , , .
θ f
Answer
Eliminate :
1 1
1
R Ls Js F s
______________________________________________________________________________
Answers
1.
4. o GK
4
i s 3s 2.125s 2 0.25s GK
3
5. o 8K1
i s 9s (20 8K 2 )s 8K1
3 2
6.
7. (a)