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Assignment 1

This document contains an assignment for an automatic control course. It includes 5 problems related to modeling and analyzing control systems using Laplace transforms. Students must submit the assignment, which is worth 10 marks total, by May 3rd, 2011. Late submissions will be penalized.

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Michael Awa
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260 views

Assignment 1

This document contains an assignment for an automatic control course. It includes 5 problems related to modeling and analyzing control systems using Laplace transforms. Students must submit the assignment, which is worth 10 marks total, by May 3rd, 2011. Late submissions will be penalized.

Uploaded by

Michael Awa
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
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School of Electrical Engineering and Computer Science

The University of Newcastle

ELEC4400 Automatic Control

Assignment 1 (Total: 10 marks)

March 15, 2011

Assignment 1 is due on 3rd of May 2011 at 5:00pm. Assignments are individual


and must be accompanied by a signed Assessment Item Cover Sheet. Assign-
ments should be placed in the assignment-box located in the foyer of the EA
building or given personally to the lecturer during the lecture times. Late sub-
missions are penalised with a reduction of 20% per day (please read the complete
details in the Course Outline).

Problem 1.1 (2 marks)


In Problem 2.1 (Tutorial 2) we have modelled a two-tanks system. Further, in Problem 3.4
(Tutorial 3), we used Laplace transforms to analyze this system. With the same parameter
values (C1 = C2 = 1, R1 = R2 = 1/2):
(a) Obtain the transfer functions from Qo (s) to H1 (s) and from Qo (s) to H2 (s).
(b) Verify, using the transfer functions obtained in Part (a), the Final Value Theorem when
Qo = 1/s (unitary step function) and the initial conditions are zero (h1 (0) = h2 (0) = 0).
(c) Compute the initial slopes (i.e., the derivatives at time zero) of the response curves h1 (t)
and h2 (t) when the input Qo (s) and the initial conditions are as in Part (b). For this
calculation you are required to use the Initial Value Theorem of the Laplace transform.

Problem 1.2 (2 marks)


The following nonlinear differential equation describes a simple pendulum system:
b g 1
θ̈(t) + θ̇(t) + sin θ(t) = Tc (t)
ml2 l ml2

1
where b is the friction coefficient, m is the mass, l is the length of the rod, g is the gravity
acceleration, Tc (t) is the applied torque and θ(t) is the angle of the pendulum.
(a) Find the equilibrium points when the applied torque is constant and equal to:

mgl
Tc (t) =
2
Assume that the pendulum can rotate 360◦.
(b) Linearize the system around the equilibrium points found in Part (a).
˙
(c) Assume that b/ml2 = 0.2, g/l = 1, ∆θ(0) = 0, ∆θ(0) = π/4 and Tc (t) = mgl/2= constant.
Obtain, using Laplace transforms, the response ∆θ(t) for both linearized models obtained
in Part (b). Plot ∆θ(t) as a function of t for both cases and comment on the stability of
the different equilibrium points.

Problem 1.3 (2 marks)


A parallel connection of two systems is shown in Figure 1.

1
s+1
U(s) Y(s)

−K−

Gain
3
s+4

Figure 1: Parallel connection of two systems

(a) What is the transfer function from u to y?


(b) What are the system poles?
(c) What are the system zeros (if any)?
(d) Calculate (analytically), and plot, the system step response and comment.

Problem 1.4 (2 marks)


In the block diagram model shown in Figure 2, find the equivalent transfer function G(s) =
Y (s)/R(s).

Problem 1.5 (2 marks)


Figure 3 shows a Simulink model of the system that you have modelled in Problem 2.1 (Tutorial
2) and analyzed in Problem 3.4 (Tutorial 3). We are here interested in the control of the level in
the second tank (h2 (t)) with an On-Off controller. The manipulated variable is the flow Qo (t)

2
R(s) Y(s)
G1(s) G3(s) 1

Gain

G2(s) G4(s)

Figure 2: Block diagram model

(assume that the valve that operates Qo (t) is the only valve available for control in this system).
The sinusoidal signal represents a flow disturbance that enters directly on the second tank,
and we will assume that it is given by the function sin(t). Build the model in Simulink and
design the On-Off controller such that the level h2 (t) stays within ±5% of the desired value
h2Ref = 0.5. In the report you should include a plot of h2 (t) and Qo (t), and the details of the
On-Off element and the considerations taken in its design.

(Note: As you already know from the analogies, this is exactly the same problem as that of
controlling the voltage across capacitor C2 by manipulating the current source, and as that of
controlling the velocity of mass m2 by manipulating the force applied to mass m1 .)

3
1
h1
Reference s
for h2(t) Relay
Level h1(t)
2

Qo

Input Flow Qo(t)

1
h2
s
Sine Wave
(Disturbance flow) Level h2(t)

Time

Figure 3: Simulink model for On-Off control

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