CONTROL SYSTEM Introduction Transfer Function Block Diagram Signal Flow Graph Physical Systems Components of a Control System Stability Analysis and Routh Stability Criterion Time Domain Analysis Frequency Response Root Locus Bode Plot Nyquist Plot Control Action Nichols Chart State Variable Analysis Compensators Miscellaneous 12 15 24 32 60 69 92 96 111 127 147 157 159 225 234POPULAt CATH INTRODUCTION Multiple Choice e 1. Feedback control system is basically [WBUT 2009, » a) high pass filter b) band pass filter 2013) c) low pass filter d) band stop filter ‘Answer: (c) 2. The input-output relationship of a linear system is given by DWBUT 2009 a)y=a,x*+axt+a, b)y=axta, c)y=ax d)y=a, Answer: (c) 3. Regenerative feedback means the output is feedback with [WBUT 2009) a) positive sign b) negative sign _c) step input d) oscillation Answer: (a) 4. When a human being tries to. approach an object, his brain acts as. [WBUT 2010] a) an error measuring device b) a controller c) an actuator d) an amplifier Answer: (b) 5. A servomechanism is [WBUT 2015] a) an automatic regulating system b) a position control system c) a process control system d) a closed-loop system Answer: (d) Short Answer estions 4. a) Draw a general block diagram of a closed loop control system, describe th function of each block. [weUT 2014) Answer: ii In closed loop control system, the output is fedback to the input through a fe element to maintain a prescribed relationship between them even in the presence # disturbances. Closed control system uses the difference or error e(t) between contro” fe variable (output) and set point (input) and sends this generated e(t) to the controll necessary actions to reduce the error e(t). Thus, the controlled variable is re te fedback and compared with the input signal. If disturbances are present, natura)... ‘output will change and an e(t) will generate. The controller once again-will try ea the the error. So, the closed loop control system provides a self-corrective process 48 variation of output. CSEE-2 Ee eelCONTROL SYSTEM ck control system. disturbances # ACH controller |_51 actuator |», Slovan] ory (nae pase | Fig: 1 A closed loop system ») Compare between the open loop and closed loop control system. [WBUT 2014] Answer: Open-loop System Closed-Loop System. {@) No feedback used. (@) Feedback is there for comparison between desired output and reference input. (}) Open-loop system are generally stable, (b) Closed-loop system can, become unstable under certain conditions. Their accuracy is determined by the calibration of their elements. Simple to (© They are more ‘Complex. Complicated to construct and costly. traffic control system, room heater, etc. develop and cheap. (WAffected by non-linearities in the system. | (d) Adjust {0 the effects of non-linearities present in the-system. Examples; Washing machine, fixed , time,| Examples: Servomotor control, generator ‘output voltage control|system and so on. Answer: ACServo for servo operation. istics, resistance rotors, ersals, cS sistance ee, The ind axes the fosine a of the windings 1. Explain the theory and operation of a two-phase servomotor and explain how a Position control scheme can be made up by using the motor. [WBUT 2017] * The AC servomotors are basically two-phase, reversible, induction motors modified A servomotors are used in applications requiring rapid and accurate’ response To achieve these characteristics, these ac servomotors have small diameter, high re 4¢ servomotor's small diameter provides low inertia for fast starts, stops, and provides nearly linear speed-torque characteristics for accurate servo of the two coils are in space quadrature as CSEE-3POPULAR PUBLICATIONS Shan e ‘ Servo + Activating Signal | Amplifier ; ° Nee fork Contol 90° rele winding eee (escine Fig: 1 Schematic diagram of AC servo One stator coil is called control winding and the other reference winding. Voltages in the two stator windings are equal in magnitude with a phase difference of 99° Fig. 2. ey ey: control voltage = V,, sin at v, = reference voltage = /, sin(at + 90°) This phase difference of 90° in two stator windings produces a rotating magnetic field, Fig: 2 Voltage waveforms in two stator windings © Power supply The two stator windings are normally excited by a 2-g power supply. Ifa 2g voltage supply is not available, then single phase supply along with an additonal circuit is used to generate a phase difference of 90° between the voltage of two stator windings. Rotor , 9 It is a squirrel-cage type having high Electrical Resistance. Its diameter to length (4) ratio is kept small to reduce the moment of inertia of the rotor. (Fig: 3) Fig:3 © Characteristic Curves A group/set of torque-speed curves are plotted as shown in figure 6.16d when (CSEE-4 all: an ‘ phase winding is fed with a rated fixed eee voltages are applied to the ) control phase winding. 3s are not straight lines, i.e., linear. a linear mathematical model, we: one or more differential ‘These: 0 develOP to develop equations. so, using near curve’ with negative SIOPES- Jinearization techniques these non- .s are approximated to linear curves 4 Braluation of Transfer Function ‘sep 1: ac servo : @. Motor’s angular speed @ (i) Control voltage «, (') ie, 1=f(4.¢()) 7=-K6(t)+K.e,(t) ..() where K and K, are constants. 4 “ (2) ‘Sep 2: Taking Laplace transform of (1) and (2) T(s)=-Ks H (s){A)E.(s) ~@) 7(3) = Js@(s) + Bx@(s) (4) From Eqn. (3) and (4), we get Js) + Bs@Ys) =—Ks@s) + K.E.(s) (0+ Bs+ Ks)Qs) = K.E.(3) +) ‘Step 3:To get the Transfer function. Rae K, Es) (157+ 85+ Ks) ‘Step 4: To draw the Block diagram. E()——| k,](as? +85-+Ks) (from Eqn, 5) CSEE-5 CONTROL SYSTEM ces (1)) €e9(0)) €4(0. e(t)=0 Fig: 4 Characteristic curves motor, torque 7 is a function of Considering linearized torque-speed characteristics, the equation for a torque speed line is From free body diagram (Fig. 6) we have the Torque Balance equation as ow Fig: S Free body diagram | Fig: 6 mec)POPULAR PUBLICATIONS TRANSFER FUNCTION 1. The transfer function of the network given below is [WBUT 2009, 2043, 204 » 2016) a) SRC ) Re ay 1+5RC 1+sRC 14+sRC ) TesRe } SRC Answer: (b) 2. Transfer function of a simple R-C integrator circuit shown in figure is given by R. Ni [WBUT 2011) ool RC 1 t 1 a) b) — a— s—a sta soa sta Answer: (4) 3. A linear time-invariant system initially at rest, when subjected to an unit step input, gives a response )(1)=re"', the transfer function of the system is [WBUT 2017] 1 1 s 1 a) b) a c) d) (s+1)° s(s+1) (s+1)° s(s+l) Answer: (c) 4. The transfer function of a system is its [WBUT 2017] a) square wave response b) step response c) ramp response d) impulse response Answer: (d) ; 5. The phase margin of the system for which the loop gain CH(e) Tsay is i [weuT 20171 a) -7 b) x co) 0 d) 2/2 Answer: (d)CONTROL SYSTEM [WBUT 2019] b) the principle of homogeneity d) none of these pefine the transfer function of a system. [weut 2014) 4 Function of a Linear Time Invariant (LT!) control system is defined as the To Laplace Transform of the response function to the Laplace Transformation of ee th “etation function under the assumption that al initial conditions are zero. 0, in System wer? aie rransiet Fig: 1 LTI system 4 ‘unction and y(t) is the response Function. iant system may be defined by the following differential equation. let xa (iyi the driving Fu ‘Alinear time-invari Initial conditions are zero. Taking Laplace transformation of equation (1): as"Y(s) + ais"'Y(s) + .. + dy.1S¥(s) + an¥(s) =bs'X(6) + bis 'X(s)+....tbnis¥(s) + bnX(S) of, (3) [aps" + as” +. n-15 + Gp] = X(S) [ B05" + bys! + ....+ Beis + Dn] Laplace Transforma tion of response function | |. 1 conditions = 0 Bre ci [bas +887 nt By +0, 2. Draw a block diagram representation for the system shown below, representing Vals) [WBUT 2015] ¥(s)” ver "Yelement by a block. Also find the transfer function CSEE-7POPULAR PUBLICATIONS Answer: The block diagram representation for the system is shown below: VAs) Vi(s)=4(hs+R)-1, Be(1) ote +R +Ls)h a R =(R+R,+L5)I, R+R+hs, ©. From Eqn. (1) we get V,(s)= (ABE luren \_-RL, _RbstR+Rbs+RR +hbs* +RLs—R aay Hb RLsH,(8) GS asa RR +RLs+RLs+RLst Lbs The transfer function Yo(s) _ RLS Vi(s) RR +RLS+RLs+RLs+LL2s* (Ans,) ; Vols) 3. Derive the transfer function for the ¥i(s) ctrical network shown below. [WBUT 2016] CSEE-8CONTROL SYSTEM Ri a ) Ze payacr SCR : writing, ifterential equations by Kirchoff's laws we get . nd=2il)* Ril’) = Ri(t) ie Laplace transform of the above equations. Weeet (o)-2tle)* RHC) ; vols Been) 0-5 vols) i ao ¥(s)=4 R +¥4(s) B-0)(2+] MAK ® MUM 1 Substituting the value of z1 we get (2 19)=%( NT scr me * |) af) R(I+SCR) = R_|_1+SCR, Ws) R+R+SCRR, R+R | 1, SCHR R+R 4Find the transfer function of the system shown in the figure: [WBUT 2018] Yes ere VG) R, VG)Po BLICATIONS ‘ Answer: where impedance Z, = B, || a vf V, V0) gat 1+ Res V,(s)__R, (1+ Res) Vi(s) R+R,(1+Res) 4. Show that the transfer function of a two-phase induction motor can be written in form ~. Transfer function, 9,(s)___ Ka V,(s) s(l+stq) What are the expressions for K,, and z,, and what are they called? [WBUT 2018) Answer: Sa A For a two-phase induction motor, the torque-speed characteristic shows that at a spec! 7 winding voltage, torque varies linearly with the speed, however, the slope is negative ® shown in the figure below. The torque characteristics can be linearised at the ope" CSEE-10 aCONTROL SYSTEM motor can be established about that point. In general, jand the control voltage g, E) ; at) Eqn. (1), in n Taylor’ 's Series about the operating point, we ee eh poly (E-%)+ Si (6-4) @) ica (2) can be written as er KE £,)-8(6-4) cl) see igus B= vole u =speed at the operating point and where, ¥ sx 4 isnegative, B willbe positive 26 rien @) can be presented as ‘AI, =KAE- BAO onthe mechanical section of the motor, The torque experienced by the motor has to sverome the inertial force (due to inettia \/)/of the-moying.parts,and damping force (éspave in nature) with the damping coefficient B, Therefore, "the mechanical ‘equation can be written as JN6+ BAB =AT,, a, JAG+B,A0=KAE- BAO Taking Laplace transform at both sides of the mechanical equation Js?0(s)+(B, + B)s0(s) = KE(s) K Bee ef) aA +8) F(s) s[Js+(B+B,)] ES) sah B+B, Where K x ae =Motor gain constant ind Pap = Motor time constant B+B g ma a function of the motor can be expressed as a en CSEE-11POPULAR PUBLICATIONS BLOCK DIAGRAM Multiple Choice Type Questions 1. The transfer function of a ‘system shown in the block-diagram is eur, RG) ; a Os M9 a) —_ ‘de (s+2)° Py) Answer: (a) Short Answer Type Questions 5 . es cy 1. Using block diagram reduction technique find z (WBUT 2010) Answer: G RG) 160.4, 1G, +| 626, So) CSEE-12CONTROL SYSTEM HH j-— GG, +G,G; RO Gah + Gr + GG 9) safc | V+ G\GpH Hy +G\GsHyHy G,(1+GH)(G.+G) Rs) 14 GG,H Hs + GG a transfer function of armature controlled DC Motor. [WBUT 2018] ie anction ofan armature controlled DC motor BH). ob) oo B(s) 1+G(s)#(s) kK, e hTF.=———*—__ rien G(#)= Forward palh TE = SCs B)(Ls+R) H(s)= Feedback path T-F.= Kis) » NIAL K, H(s)_ s(Us+B)(L,s+R,) eee x (Baek) & K, ee K, s[,s? +(1,B+RJ)s]+K,K,s [t,s* +(RI+L,B)s + KK] ‘Theblock diagram of the complete system is shown below: °K] . [K}-[G@}-+7> v. TReSFG canbe drawn as CSEE-13Long An: er Type Questions 1, Use block diagram reduction technique to find out the Overall transfor fuy of the system shown below in fig. 1. IWBUT 2006, agg a +f G, k G + GO) + Gy = =e i +62) « Hi |e Answer: Fig: 1 Gy & GG: {G £ Hy R GG) (G6 Ve 1156.6, -{ Sie GG, ea GIGS eo ee GG, G, Sl _¢ 4-H, | 14G,G,H,+G,G,H,| | > G HGG3Hi 2 [665-50] | ¢ 1426.64; CSEE-14rs Multiple Choice Type Questions [WBUT 2009, 2013] . his “signal flow oe representation of a set of differential equations 4 a pot ) polar plot d) locus of roots ) answer (@) tn signal ow graph of figure the gain C / Rwill be [WBUT 2012] 2in 1 R x l 4 ai 2119 b) 22/15 c) 24/23” d) 44/23 answer: [WBUT 2013] nal flow graph is used to obtain the . Si ‘ a ‘stability of a system b) Transfer function of a system 2 Controllability of a system 4) Observability of a system answer: (0). {.Asigal flow graph is used to determin® the “eur 2015] 2) steady state error in the system b) stability of the system ¢)transfer function of the system @) dynamic error co-efficient Answer: (0) Short Answer Type Questions 4. Construct an equivalent signal flow graph for the block diagram shown in figure telow and evaluate the transfer function. [WBUT 2008, 2012) fit SQ-ab@-eL[e S10 £ tn ial low graph is drawn from the given block diagram CSEE-15Identification of forward paths through nodes Forward path gains are given by 1,23,4,5,6,7,8,9 FaGGG, 1,2,3,4,5,7,8,9 2=GHG, sthadl ——] Identification of loops through nodes Loop gains are given by 2, 3,4, 5, 6, 7, 8,2 3,4, 5, 6,3 4,5,6,7, 8,4 2,3,4,5, 7, 8,2 4,5,7,8,4 L,=-H,G,H, No non-touching loop is there in the drawn signal flow graph. A=1-(L+L, th tl tl) 14GGG, +66, 4 GH, +G,G,H, +G,tH, men , VvientO A,=1 AS per Mason’s gain formula 7 BAEPRA, I GGG,+GHG, a 1+G, i + GHG, +G,H, +G,G,H,+G,H\H, 2. Find out the overall transfer function C/R of the following system using the rules of Signal Flow Graph. [WBUT 2009, 2013] Answer: Forward path gains P.=G,xG, CSEE-16CONTROL SYSTEM G,xG,xG,xH,) =+(G2xG,xH,) (G,xH) +O.xGx Hh) | ALPRGRGEG, XH, +66, x6, X(8)[Ms + (B,+B,)s+(K, +K,)]-(Bs-+K,) X,(s)= Fs) wn 8) Taking Laplace transform of Eqn. (2) Mz s°X-(5) + BySX(8)+KX(5)+K,Xo(5)~ KX (5) + B,sX,(5)~BysX (8)=0 = [Mas +(B, +B.) s+(K, +K)]X4(5)=(B,s+K,)X,(s) CSEE-30CONTROL SYSTEM wen (4) sl Bys+K,)X (8) : é +(a+B)s4(% +K))XO- Ms = ae Ks) © fi o 2(+8)54(K +K,)]xM,s" +(B, +B,)s+(K,+K,) [ate =(BS+K)X0) _ 5.) ifs? +(B, +B) (Ka KS) cae M,s* +(B:+B))5+ (Ks +Ky)~(Bys + Ks) Ms? +Bys+Ky [ure +B,)s+(K,+K,) | Mas’ +(B, + B,)5+(K. +4) \s ¥ os ( ( © ) ) \s y os meen Mk 8 BR a toc, | tac K ) MARU TMe}jorin SoG K, Mesh 2 CSEE-31POPULAR PUBLICATIONS COMPONENTS OF A CONTROL SYstey, 1. AC servomotor is basicallya [BUT 2007, 204 a) universal motor b) single-phase induction mor? 201] ©) two-phase induction motor d) three-phase induction Motor” Answer: (c) 2. “Synchros" are popularly used as transmitter of a) digitaldata b) mathematical data c) angular data cae on Answer: (c) “) 3-A potentiometer converts linear/rotational displacement into [WBUT 2008, 204 0, a) current b) power c) voltage @) torque 28) Answer: (c) 4. The characteristic equation of an armature controlled de motor is of [wer 2 a) first order equation b) second order equation a ¢) zero order equation d) third order equation Answer: (b) : 1. Discuss with neat sketches two different types of liquid control schemes. [WBUT 2007 OR, Write short note on Liquid level control. [WBUT 2012, 2016) Answer: Two-tank Level System may be referred to as two first-order tank Level System connected in series. Depending upon piping arrangements, two-tank level system may be classified as 1. Non Interacting System 2. ‘Interacting System. 1. Non-Interacting System Figure below shows a two-tank non-interacting liquid level system. ait) tank |» ay a dhs CSEE-32CONTROL SYSTEM tank discharges directly into the atmosphere before falling into tank ugh Rl and R2 depend on respective liquid levels in tanks1 and 2. But uy jn h2 in tank 2 has no effect on the variation occurring in tankl. So, the ot density should remain the same Ligue shave ‘uniform’ cross-sectional ara, , 1 uh Piece ‘around each tank Wen Mass flow in) — (Mass flow out) = Rate of accumulation of mass in the tank. dh, : portant 1 AG ale Fortank2 oe afrom flow-head relationships gin from it ne 1 Interacting System ; An iteating to-tank level system is shown below: #7 Motor’s torque constant, N—_m /Amp But (0,0) : 1A nalts es, a voltage proportional to the product of flux and angular velocity is This yolgge sate citeuit as per Faraday’s lays of induction. ort AS the moto rotat ‘duced in the Known as back e.m.f. / counter e.m.£, e CSEE-35 )a enenennnnranenneererarerereraieen i = where, K, => back e.m.f. constant., Volt-sec// rad. Applying KVL in armature circuit Gist) ae 1,2) i, ()+e,()=25() O The motor’s torque is now transmitted to the mechanical load. From Free body diagram of the load (Mechanical system) Fig. 1d, we get th mathematical expression for the mechanical system is written as ; pte Oe). (7) dt? dt r a) \ Mechanical fe MAK AUT Mento}-in a Free bod) aa Pb ‘Steps for constructing Block Diagram ‘Step I: We take Laplace transform of equation (5), (6) and (7) to have E,(s)=K,s@Qs) (8) 1,s1q(s)+Rela(s)+ E,(s) = E,(s) or,(R, +L,s)1,(s)+,(s)=E,(s) +--+ (9) Js*H (s) + Bs@(s)=7(s)=K.1, (s) or,(Js+B)s@(s)=K,J,(s) ve (10) Rearranging equation above equation, we get E,(s)—E,(s)=(R. +Z,s)1,(s) amon( (hb) Step 2: Development of blocks: From equation (8), Org eee ay CSEE-36' MUR+L9) |_y et i Ms) from tion (9), K HY. ls) [ss+B)) @)@ i) +8) sup 3 Resombie te above blocks. ; K, That, i OS)? a ea Eels) Ks < Weknow, a) 0) CLIF= (s) 1+G(s) HI f Ae ie: (12) nienG(0)=Forardeah Mata astayntor-it? H(s) = Feedback path T.F.= K,s wen (13) German Km WW rea)(Za+R) K, “Tar (ab RP RR = fs, si s[JL,s* +(R,J+1,B)s+K,K, | 4What are) synchros (i) position encoder (il) resolvers? [WBUT 2009] OR, Mint short note on Synchros & position encoders. [WBUT 2012) OR, i Mle shot note on Position encoders. aaPOPULAR PUBLICATIONS q Answer: ') Synchro: A Synchro, named also as Selsyn (a word made up from selfsymopy, or Autosyn (a word made up from aufomatically-synchronizing), is an electro transducer, which produces an electrical signal in response to the angular d A Synchro is basically consists of two sections. 1. Synchro transmitter 2. Synchro receiver ‘Onizin, mage) lisplacemene © Synchro Transmitter The synchro transmitter converts the angular position of its rotor (mechanical input) i nto an electrical output signal. (fig: 1). ‘Mechanical fo Transmit Electrical output fechanial input Sirac ter ir t Fig: 1 © Construction Synchro Transmitter by construction is similar to a Y-connected 3-phase alternator having a stator part and a rotor part. i © Stator part The Stator, which is stationary, is made up of laminated'silicon steel and is slotted 1 wind a balanced 3-phase winding which is of concentric coil type. The i i 120° i a ie axes of the! els are displaced 120; apat-witheach other ahd Y exnndced (gue The stator windings provide electrical output. Fig: l(a) © Rotor part: cae The rotor is of dumb bell shaped. It is a salient pole type wound with concentric coils. Through the ship rings, an a.c. voltage is fed to the rotor winding. ‘Dumb bell shaped wound with Goncentre eo Principle of operation ‘The synchro transmitter is based on Faraday's laws of inductions an transformer with id acts 35 * ‘CSEE-38 Ve ee |yes CONTROL M indings are displaced 120° apart from each woltage is applied to the rotor ofa synchro transmitter, the following events co sn alternating current produces an a¢ magnetic field around the rotor windings. = maes of force cut through the windings of the three stator coils and, by a former action, induce voltage into the stator coils. wr effective voltage induced in any stator coil depends upon the cosine of the eagle position (figure 1.c) ofthat coil’s axis with respect to the rotor axis. sen the maximum effective coil voltage is knidwn, the effective voltage induced {nto a stator coil at any angular displacement can be determined. consider, a voltage applied tthe rotor is 1 Le V,(0)= Asin ot : ‘ined voltages inthe stator windings are ne . Va (t)= KA sin at cos into0 Vog(t) = KA sin ot c0s(120 +8) }'----@Q) Vos(t)= KA sin ot cos(240+8) nthe coresponding line voltages are ie 12 V si Vox MAKAUTMEntar i, =KA sin a[cos - cos(120+8)] =KA sin ot -2-sin(60+8) -sin 60 B =KA sin o2sin(60+0) > =y3 KAsinot-sin(60+@) @ Similarly ¥,, = V.—Vzs = KA sin wt [cos(120 +8)—cos(240 + 8)] = KA sin a 2-sin(180+)sin 60 = V3 KA sin wr'sin(180+@) > (4) Bae = 7-7 = KA sin t[c0s(240+0)= cos] ee No OHA ee SE | sin = iv 208 2 ae sin at -sin(120 +4) -sin120 3, KAsin or sin(120+8) =V3 K4sin 7 sin(240 +0) CSEE-394 stator coil (12040) stator coil Fig: 1 (¢) Relative angular positions of rotor So, we find that for an input of angular position of the rotor shaft relative tothe windings, the synchro transmitter gives a set of three lines voltages. Thus, synehng st windings give electrical outputs. inf e Electrical Zero: In figure 1d when 0 = 0, Vs; has maximum value of Voltage = KA sin at (from equation 2) and V,.= V3 KA sin at-sin(180+0)=0 The position at which Ysivis maximum and Vi2= 0 is known as Electrical ze " mum and. Via = 0 reference paste ER CS eat? transmitter! | mS | _vsi 8: rotor Stator ui Stator Ova Ova Fig: 1 (d) Electrical zero in synchro transmitter Synchro Receiver / Control Transformer When the stator windings (output) of a synchro transmitter is coupled to a syns? control transformer as shown in the figure 1.e, the complete system is called Synst” Error Detector or simply Synchro. : Unlike the synchro transmitter, the receiver has an electrical input to its stator %4 mechanical output from its rotor, CSEE-40CONTROL SYSTEM er's function is to convert the electrical signal at its stator from the eamectanical angular position through the movement of its rotor. ‘compares the angular positions of the two rotors. Synchro receiver / L contra transformer Fig; 1 (e) Synchro os of both Synchro transmitter and Synchro control transformer are identical a utput signal from synchro transmitter is fed as the input to the stator of the control ant omer, the ux pattems are identical in both the systems. I be induced in the rotor of the control transformer. The induced voltage A voltage Will ate proportional othe cosine of the angle between two rotors @ e(t)=KA sinatcos? f MAKAUTMentor.in here, y => angular displacement between the rotors, pi ind K, > proportionality constant When ¥ =90', e(t)=0. This position is known as electrical zero of the error detectar. Let us consider, 0 => Angular displacement of the rotor of transmitter & p= Angular displacement of the control transformer s-net angulare(®) = K,A sin «xt cos(90+8 - 8) =K, Asin ot sin(f-6) (8) For (8-0) to be small, sin(#-@) >(A-6) vs (9) So, from equations 8 and 9 we have et) =K; A sin at (B ~6) > c(t) (B-0) > Synchro-transmitter and control transformer pair acts as an Error detector. i) Position encoder: . is f cetiee, that detects rotational and linear positions of machines such as , linear actuators, tachometers, and the like. They allow acct itioni of i a r y al urate positioning aad machines, and determination of such quantities as derivatives of position i.e. eee acceleration, yee are used to generate an electronic signal that indicates an absolute Position, or an incremental mechanical movement relative to a reference CSEE-41POPULAR PUBLICATIONS Position. There are many known ways of generating a position signal, inchigi Sensors, capacitive sensors, and optical sensors. Linear and rotary type cheslye Tapp pxtensively as detectors for control over feed rates and stop positions of yar" ae Position encoders are classified as’ incremental and absolute. The increas Shcoder detects and outputs increases and decreases in relative movement femal py and detector, A typical incremental encoder includes a wheel with tally marke °° 66 & circular array about the wheel A’ sensor detects the passage of wally Sate Grientation of the wheel is changed. Absolute postion encoders provigt 4, absolute position, thereby avoiding the problem with initilizatic, moven ott of Plsgues incremental encoders, The absolite type encoder reads the renge™® ty Detween coder and detector using a fully periodic amay pattem scale of n° Peg ‘lative position, after suitable processing, is output as an absolute position © COU" Te Different ways are there to detect angular or rotary motion such as mechanic utilizing brush contacts or magnet/nduetive methods. But the most commen rela Widely used devices are non-contact optical receptors employed by optical thee cl optical encoder comprises ‘alight emitting’ unit, which emits a ligh beac Photoelectric converting elements, which are disposed behind two diffraction ate Photoelectric Totary encoder is a kind of a sensor that is used to detect Totation ae fotation number, rotational speed andthe like ofa rotating unit as digital sina ees shaft encoders generally consist of an optical shutter, such as'a disk ot drum ‘hich Tigidly attached to the shaft whose position is to be determined. Such encoders sre ed various types of machinery an machine tls where infomation concerning the a angular latonsh ps pod eheAAUEMR Cn he Resolver A resolver, an analog device, is a type of rotary electrical transformer that measures degrees of rotation. Pulse encoder is its digital counterpart. A resolver is a rotary transformer Where the magnitude of the energy through the resolver windings varies sinusoidally as the shaft rotates. Avresolver control transmitter has one Primary winding, the Reference Winding, and two secondary windings, the SIN and COS windings. The Reference Winding is located in the rotor of the resolver, the SIN and COS Windings in the stator.) The SIN and COS Windings are mechanically displaced 90 degrees from each other, In a, brushless resolver, energy. is supplied, to, the Referene Winding (rotor) through a rotary transformer. This eliminates brushes and slip rings in the resolver and the reliability problems associated with them. In general, in a control transmitter, the Reference Winding is excited by an AC voltae called the Reference Voltage (Vr). The induced voltages in the SIN and COS Windings are equal to the value of the Reference Voltage multiplied by the SIN or COS of the angle of the input shaft from a fixed zerd point. Thus, the resolver provides two One whose ratio tepresénts the absoluté position of the input shaft, (SIN 0/ COS 6 i i where 6 = shaft angle.) Bécalise the ratio of the SIN and'COS voltages is considere 1 changes in the resolyers) characteristics, such as those caused by aging or @ eet temperature, are ignored. An additional advantage of this SIN /;COS ratio is that CSEE42 |CONTROL SYSTEM n i the shaft is rotated with power removed, the resolver will ake ue when energy is restored. st cos Winding Ve=Vic05(0) 2 RL vr S R2 Rotary | Vs= Visine) Transfer < 31 hematic diagram of an armature controlled de servo portion the scl i An 4,2) Draw t© * wing all its components. Use potentiometers as the position contol sYSt°P the block diagram. [WBUT 2012] a Motor: ntrolled DC 4 ee pian No.2 of Long Answer Type Questions. a Part: fiometer " e 3 oetomelet is adevice, which has a resistance with three terminals, The Resistance is ne jn between two end terminals. The/resistarice of the third itefminal (i.e., wiper) can sevared with respect to the end terminals 4s shown in the figure 1. > End terminal nth =R fined 1 wiper —> End terminal Fig: 1 A potentiometer A potentiometer is a passive transducer which converts the mechanical displacement, of Wiper into equivalent electrical signal. Figure, 1(a), shows the block diagram of a potentiometer, Mechanical nee Electrical Displacement Signal Fig: 1(a) Block diagram of a potentiometer CSEE-43 || POPULAR PUBLICATIONS Working Principle B =o Fig: 2 Working a potentiometer A and B are two fixed terminals having resistance R. If a constant dc. voltage (y,) applied across the fixed end terminals (A and B), then an output voltage Vo is obtaings from the variable terminal (C) with respect to an end terminal. (say, B) as show ine figure 2. ¢ If the wiper is displaced then we get a variable output voltage Vo i.e. the voltage output gf the movable terminal / wiper with respect to one of the fixed terminals (say, B) i proportional to the displacement of the wiper with respect to terminal B. Referring to the figure 2, due to voltage division, (1 t8tin assuming uniform spreading out of the resistance, naxn=n=Kixr 2) and = R=Kix 3) where, x; => displacement of the wiper corresponding to r) and Kj=> proportionaliy constant, x => total sensible displacement of the wiper with respect to the terminal B. VK, 1 R oietyie (%)s [from equation (3)] x > Mr, >. %=Kx, vn (4) To Generate TF, Taking Laplace transform of equation (4), we have V,(s) = KX,(s) AG (Kank Ala puiak “2 Taxi (2) SeNmeliaSy CSEE-44CONTROL SYSTEM K y | Xi) Vis) rig: b Block diagram Fig: ¢ Block diagram .e T.F. (equation 5) we find that the highest power of s in the he order of the transfer function is zero. Hence, we say that a of th . So, tl ‘azero order component. or Sensing Device Err oe ¥ prove DCE. OF component of control system; which is used to generate a difference etecto a stem, the error detector is a device, which generates a difference signal, in ext onl Jepending upon the magnitude and polarity ofthe setpoint variable ale aoled variable. oe depicts the symbol of a comparator, where, r(t) and c(t) are the inputs to it - and e() isthe output from it providing the difference of the inputs. Fig. 3: Symbol of a comparator Realization of an Error Detector Realization of an error detector may have through a potentiometric error detector, whose components and functions are listed in table. + Components Components: [Functions 2 potentiometers Potentiometers, connected in parallel, are used as variable voltage; eaieiatasctoarces Applied : . uurce [Applied across the potentiometers and the polarity of error voltage will acreat [determine the relative positions of the shafts / wipers. uit Arrangement: Fig. 4 shows the circuit arrangement of a potentiometric error CSEE-45where K= Proportional constant 1) = SetValue Vines Vy ~Vy i (C(t) =3 Controlled Variable Fig: 4 Potentiometric error detector * Operations ‘Step 1: One of the potentiometers, say A, in figure 4, is used to generate reference’ through its wiper. The postion ofthe wiper (x) corresponds to an electrical signal ye Step 2: The other potentiometer’s wiper position is governed by the controlled Me Corresponding to a value of controlled signal, wiper takes a position, say y. This wre Position corresponds to an electrical signal, say V,. om ‘Step 3: The voltage V,, developed between these two wiper will indicate the difference » between the positions of two potentiometer wipers. If x and y both at same physical level, then, voltages at these two points Vy.and V, are equal. ty) = V4 - 0 However, if point differ in position, then , yew MMARAUT Menton io eee ye 0) If V;>Vy, then Viy > 0 If V, < V,,then Vy <0 and V,y « (difference in levels of x and y) and will correspond to an error signal. Vy =K.e(t) i (6) where K= sensitivity of the eiror detector © Transfer Characteristics: Transfer characteristic of a potentiometric error detectors shown in figure 5. ray Positional difference of wipers (meter) Fig: 5 Transfer characteristic of a Potentiometric error detector CSEE-46” 'CONTROL SYSTEM sransfer function of the system. Assume all relevant parameters. ; [WBUT 2012] a of Long Answer Type Questions. ort notes oF tHe following: see rachanisms qWaUT 2009, 201 2201 a ters zoos a} Sgcnome ROR tor IWBUT 2009, 2013] ne [WBUT 2010, 2015] [WBUT 2013, 2015, 2019] [WBUT 2013, 2016, 2019] [WBUT 2014] [WBUT 2015] prs oir 8 echanisms: i 2 sem iit feedback system used in the automatic control of machi nes, involving ‘lo trotting. a small amount of energy, an amplifier, and a, seryomotor ag emerseto"= amounts of power. In other words servomechanism. deals, with & assem that comprises of a sensing element, amplifier, and servomotor, used in feiMtonaic conrol of a mechanical device by means of negative feedback. A control fem sevomechanim converts a sina force ino 2 lager foes, It is sed {0 sp emechaical postion and its derivative i.e. velocity and acceleration, sa eof eromechanism i o pest the following objectives: Power amplification Te ofa high-power load {rom a low-power-commiand signal. Automatic control ve eats and precise control of motion without the presence of human attendants, To, face of any. mechanical load variations, power supply fluctuations, changes, in the tniropment, and derated performance of components due to aging ete. Acta system, may. use single-loop servomechanism or, simply, a servo loop. More complex control system one may use two or more loops (multiloop servo). Figur below shows a block diagram of a single loop servomechanism. ei Mechanical —| Amplifier =>] (Servomotor) [—>| _ connections Sores ian (Gears, linkage) ; y (Controlled 8 variable) Feedback element i Feedback signal (Measuring device) Fig: Block diagram of a single loop servomechanism Rig one an example of Servomechanism where the azimuth of the antenna is © << through the servomechanism. CSEE-47,Error signal Antenna Motor > Desired >| controller pase ‘Summing device Feedback: actual ‘Antenna: azimuth Position sensor Fig. An example of Servomechanism The position sensor senses any change in azimuth. The summing device genera error signal depending upon the desired value of the azimuth. Motor controle getting the feedback from the summing device drives the motor in such a way the: antenna regains its desired value. toe b) AC tachometers or AC tacho generator: Construction The construction: of an a.c. Tachometer is similar to a two-phase a.c. servomotor, Its construction is classified as i) Stator part ii) Rotor or re part) a ‘Stator part: It cones Pa cIAREREAE rH angles to each other, ie, in spc quadrature. One coil is called reference coil and other quadrature coil. The two windings are excited by voltages having 90° phase difference. [see figure (a)] Rotor part: It comprises of a thin aluminium or copper cup which rotates in the air gap between a fixed magnetic structure. Inertia of the rotor is very low and the rotor is wound with highly conducting materials to provide a uniform short-circuited path. Reference 4) Reference coil iG : ye =Vm sina v rotor ze a Mechanical Fig: (a) Arrangement of a) windings le >I v0 =Vnsn( 0145, 2 ) rate Banrersato col Fig: (b) Schematic diagram of an ac tachomet=! CSEE-48 oeROL SYSTEN oh ated voltage is applied tothe reference winding the rotor is coupled mechanically to an object whose speed is to be ep ® Reolor rotates with the same speed as the object. jeu, tage at the quadrature coil is produced which is proportional to the speed B93 TH Ve emtical it canbe repesenedas follows ot d ofthe 1" OF et) & a ) put voltage, Volt alam ay angular displacement of rotor, Radian Ko tachometer constant, Vi/rad/sec. OF has basically been derived from the word ‘Servant’, who follows the ad given bythe master. Hence, a DC servorotor is used as an actuator in the istuons ff drive a load as instructed by the controller, oa Mi 4 DC motor of low power rating, and having high ratio of Torque to Inertia It ne Tearing a faster dynamic response. Caserta isa component ofa control sytem in which the contlled variable isa aasral angular postion or rate of change of angular postion. It convents eletrical signa into equivalent mechanical deh AUT Mentor.in Se rvorot word “St + Classification Servo Motor oe Ac an : 29 Armature Feld peoion conlled controlled Armature Controlled DC Motor: Refer 0 Question No, 2 of Long Answer Type Questions. Field Control DC Servo Here in figure 1, (i) amature terminal is connected to a constant DC source (e,) with very high internal ® ‘impedance(R), As a result, armature current (i,) remains constant. Control signal (from controller) is fed to the field windings with resistance Ry and i f (iiarmature is mechanically coupled to the load. CSEE-49POPULAR PUBLICATIONS * Operation Torque T developed by the motor is proportional to the product of air gap f]y, 3 sand, armature current i, Tx$,i, As i, is constant, Tx}, In linear part of magnetization curve $y i, Tai, or, Wigs, xe 1 a, (dl) where, K¢= Motors field torque constant, N- m/Amp. Schematic diagram of a field controlled de motor is as shown in figure 1. a i, = Constant Gut & is WU | eal T90 J u “{DC source Signal with very Fig: | Field control DC servo at Here, Ry= Field winding résistance, ohit?”) ("1/1 L r= Field winding inductance, henry Field current in amp. er= Applied field voltage, volt R= Internal Impedance of the source, ohm i, = Armature current in amp. T = Torque developed by the motor, N—m J = Equivalent moment of inertia of rotor of motor & load, Kg — m B = Equivalent viscous friction of the rotor of motor & load, Nnv/rad/see. Q From field circuit we have, &y = Ryi, +L, 3 From the mechanical system, we draw the free body diagram (fig: !.a). Fre body diagramCONTROL SYSTEM. eC ... oo Ba Kyiy (4) sm eqation (1) ‘Block diagram ion of . , ration of Bi ansformation of time-domain differential equations (2) and (4). + ys Take Laplace Wet Rl, (s)+sL1,(s) A )e(& tt) ei Qs) + BDs) = K (5) O(s)[48 + BS = Kyl, (s)_ + (6) sep Draw blocks from individual equation in Laplace form tf 1 2 a lees [a2) [From equation (5)] Fig: 1 (b) Ke | 5 [From equation (6)] Is'+Bs 5 1) @® Fig: 1 (©) Siep 3: Combine the blocks in figures 1. and 1.c rin he ee (mn Oars @® >| Rp tsLp) >Tis+Bys > Fig: 1 (4) Step 4: Apply block diagram reduction technique in figure 1.d Kk, | Rank SR |S B® [SOs BREE) Oo Fig: | (e) Represents the block diagram of a field controlled DC serve-motor (@)Itis atype-1, 3rd order system. Lie armature controlled DC motor, it does not provide any inherent feedback path. , frdm stability point of view it does not provide a good option. AC Servo 1. The AC servomotors are basically two-phase, reversible, induction motors modified for servo operation. \c Servomotors are used in applications requiring rapid and accurate response ristics, : CSEE-51POPULAR PUBLICATIONS 3. To achieve these characteristics, these ac servomotors have small diame ter, hi Tesistance rotors. hin 4. The ac servomotor's small diameter provides low inertia for fast Starts, , Stops reversals. » and 5. High resistance provides nearly linear speed-torque characteristics fo, Servo motor control. *° Construction Ithas 2 stator coils, The axes of the windings of the two coils are in space Quadrature shown in the following figure: ii Shat & - 1B Activating Sar) : ‘Signal Amplifier { a eek, Control 90° Reference peancing} }% 1 winding Fig: 2 (a) Schematic diagram of AC servo One stator coil is called control winding and the other reference winding. Vol th d Li ide with a phase diffe oe i ta stator windings err alin magnitude witha phase difference of 9 Accurate Fig: 2 (b) Voltage waveforms in two stator windings =control voltage = V, sin at y, =reference voltage =, sin (cx +90°) This phase difference of 90° in two stator windings produces a rotating magnetic field. « Power supply The two stator windings are normally excited by a2 power supply. Ifa 29 voltage supply is not available, then single phase supply along with an additional circuit is used to generate a phase difference of 90° between the voltage of two stator windings. * Rotor It is a squirrel-cage type having high Electrical Resistance. Its diameter to length (d/) ratio is kept small to reduce the moment of inertia of the rotor (Fig: 2.c) _ CSEE-52CONTROL SYSTE is small ea I i. : Fig: 2(c) 3 jstic Curves Ee, ones curves ate plotted as shown in fig: 2 (d) when age rae 504 (0440 N-m radisec e()=0 Fig: 2 (d) Characteristic curves fixed phase winding is fed with a rated voltage. different voltages are applied to the control phase winding. are not straight lines, i.¢ lif {Tojo finenpatieatial model, i Jop one or more differential equations. So, using linearization techniques are approximated to linear curves with negative slopes. 0} These curves ‘weave to devel thesenon-linear curves . Evaluation of Transfer Function ‘Sep I: In ac servo motor, torque T isa function of (ii) Motor’s angular speed 6 (i) Control voltage ext) care) i t Fig: 2(e) : ig: 20) ow) 4207 Free body = diagram pe = a Fig:2(D oe ai torque-speed characteristics, the equation for a torque speed line is CT--KO(t)+K.e,(t) (7) hee Kandi ad on fr " pare ety diagram (fig: 2.f) we have the Torque Balance equation as 7=)29(t) , d0(t) wey q CSEE-53POPULAR PUBLICATIONS ‘Step 2: Taking Laplace transform of (7) and (8) T(s)=-Ks@ (s)+KAe(s) T(s)= Js@Xs)+ BGs) From equation (9) and (10), we get Js\Xs) + Bs Qs) = -Ks Os) + KE. (s) (s+ Boi Ks) = KE) ty. Step 3: To get the Transfer function. @s) _ A (from equation 11) E.(s) (Js? + Bs+Ks : ‘Step 4: To draw the Block diagram. E(s) >] K,] (4? +B5+ Ks) t——> @s) 4) Synchros: Synchro: A Synchro, named also as Selsyn (a word made up from self-synchroniz Autosyn (a word made up from aufomatically-synchronizing), is. an electromag? transducer, which produces an electrical signal in response to the angular displacement A Synchro is basically consists of two sections 1. Synchro transmitter 2 Synchro recy FAK AUT Mentor.in Synchro Transmitter The synchro transmitter converts the angular position of its rotor (mechanical input) into an electrical output signal. (fig: 1) Mechanical input ‘Synchro Trans Electrical output Fig: 1 © Construction Synchro Transmitter by construction is similar to a Y-connected 3-phase alternator, having a stator part and a rotor part. Stator part : The Stator, which is stationary, is made up of laminated silicon steel and is slotted 0 wind a balanced 3-phase winding which is of concentric coil type. The axes of the coils are displaced 120° apart with each other and Y connected. (figure La). The stator windings provide electrical output. CSEE-S4CONTROL SYSTEM BE court Fig: 1(@) r 00 Ob tell shaped. It is a salient pole type wound with concentric coils. reo Se hip rings, an 2. voltage is fed to the rotor winding. qough ‘Dumb bell shaped wound ‘wth conenti eal Fig: 1 (b) inciple of operation “oe yh eit is based on Faraday's laws of inductions and acts as a former with _ rotor as primary side. — stator as secondary side where the windings are displaced 120° apart from each other. ss Ant ah A y ' anac voltage is applied to tHe fotor ofa Synchfo transphiter, the following events ‘When occur analternating current produces an ac magnetic field around the rotor windings. the lines of force cut through the windings of the three stator coils and, by transformer action, induce voltage into the stator coils. the effective voltage induced in any stator coil depends upon the cosine of the angular position (figure I.c) ofthat coil's axis with respect to the rotor axis. — when the maximum effective coil voltage is known, the effective voltage induced into a stator coil at any angular displacement can be determined. Letus consider, ac voltage applied to the rotor is, V,()= Asin of coscee(()) ind induced voltages in the stator windings are V,,(t)= KA sin ot cos. Ve,(t) = KA sin wt cos(120+ 8) V,,(0)= KA sin ot cos(240 +0) tnd the corresponding line voltages are Yur =Vo—Vso =KA sin at[cos @ —cos(120+4)] CSEE-55POPULAR PUBLICATIONS = KA sin at:2-sin(60+6) sin 60 = KA sin ort sir Me = 3 KA sinor-sin(60+0) 0 (3) Similarly V,, = V,,-V,, =KA sin ax [cos(120+0)—cos(240+9)] = KA sin of 2 sin(180+8) sin60 = V3 KA sin or-sin(180+8) Bae (4) ae Vaan ya = KA sin at[cos(240+ 8)—cos6] = -2KAsinotsin{ MAPA in 20 =-2KA sin or sin(120+8)-sin120 ~V3 KAsin atsin(120 +8) =V3 KAsin ot sin (240 +8) Slator coil tor.in (1208) stator coil Fig: 1 (©) Relative angular positions of rotor and stator coils So, we find that for an input of angular position of the rotor shaft relative to the stator windings, the synchro transmitter gives a set of three lines voltages. Thus, synchro stato windings give electrical outputs. ¢ Electrical Zero: In figure \d when 9 = 0, Vs; has maximum value of: voltage =KA sin at (from equation 2) and V,,= V3 KA sin at-sin(180+6)=0 The position at which Vs; is maximum and V) = 0 is known as Electrical zero reference position of the rotor in synchro transmitter, CSEE-56CONTROL SYSTEM windings O v3 Ovs2 Fig: 1 (d) Electrical zero in synchro transmitter iver / Control Transformer eat ‘windings (output) of a synchro transmitter is coupled to a synchro ‘When ie former as shown in the figure 1., the complete system is called Synchro tor or simply Synchro. p . aie sche transmitter, the receiver has an electrical input to its stator and a Ul ‘cal output from its rotor. i : 4 ei Bees function is to convert the electrical signal at its stator from the Dee back to a mechanical angular position through the movement of its rotor. S neko Eror Detector compares the angular positions ofthe two rotors. Synchro Jransmitter Synchro receiver / D v7 Z contro transformer Fig: | (¢) Synchro * Working . Since stators of both Synchro transmitter and Synchro control transformer are identical ‘nd output signal from synchro transmitter is fed as the input to the stator of the control ae the flux patterns are identical in both the systems. “ee Will be induced in the rotor of the control transformer. The induced voltage Proportional to the cosine of the angle between two rotors °)=K,A sinatcos ¥ (7) CSEE-57POPULAR PUBLICATIONS where, y => angular displacement between the rotors. and K, => proportionality constant When ¥ =90,, e(¢)=0, This position is known as electrical zero of the erry ete Let us consider, 8 => Angular displacement of the rotor of transmitter si & f = Angular displacement of the control transformer <. net angulare(t) = K,A sin wt cos(90+0-f) . =K,Asinax sin(B-8) «....- (8) For (B — 8) to be small, sin(@—@)>(f-8) m-(9)) So, from equations 8 and 9 we have e(t)=K; A sin ot - (B-0) > et)<(B-0) => Synchro-transmitter and control transformer pair acts as an Error detector, e) DC tachogenerator: Construction: The construction of a d.c. tachometer is similar to a small dc. generat Its construction is classified as i) stator part ii) rotor or armature part Stator part: As the name implies this part remains stationary. It comprises of sever permanent magnet poles which produce magnetic field, Rotor or Armature part: Awound rotor is provided with a commutator and brushes. The output voltages ee So hed AEE Rotor shaft is connected mechanically with the shaft of the rotating member whose speed is to be measured. It generates electrical voltage whose a) magnitude is proportional to the magnitude of the angular velocity of the inp shaft. i b) polarity depends upon the direction of rotation of the input shaft as shown in Fig. 1. (a) and Fig: 1.(b) a ena. A | < A | anid 2 Ae ey ‘ | | oe fi a @ (b) Fig: 1 Dependence of polarity on rotation” i 1s lawof Principle of operation: The operation of a DC tachometer is based on Faraday’s 1 induction i.e. when a conductor rotates in a magnetic field, it generates af oe uctor voltage across the conductor, which is proportional to the rotation of the con CSEE-58CONTROL SYSTEM ical voltage (Volts) and 0(rad.) is the angular displacement a conductor wound rotor, provided with a commutator and magnetic flux due to permanent magnet poles, a D.C. voltage is inal A is positive with respect to B when the armature rotates in A gute ee (say). Ifthe armature rotation is reversed then A becomes negatively Ie direc” figure 1.b). ea respect to B (BUTE: ‘ jo of DC voltage given by it em 1A.NO.,yo-* volts. Lea) 2-60 yn, znumbel number of conductors in armature = number of parallel paths between the positive and negative brushes + of permanent magnet poles Me 1 f 7 angular speed is r-p.m. ‘ = flux produced by poles; Wb. Since, My» Mer "op and ¢ are constants. ip Me a's voltage waveform (Vo) follows the pattern of the angular speed (N) of i the figures 2.4 and 2.b.» tering nb 28 shown by the figures Pan? Me a @ (b) Fig: 2 waveforms of the angular speed (N) of the rotating member and the tachometer’s voltage (Vo) ‘)Potentiometer: Refer o Question No. 4(a) (2" Part) of Long Answer Type Questions. ‘Block diagram of speed control of de motor: orto Question No. 2 of Long Answer Type Questions.POPULAR PUBLICATIONS STABILITY ANALYSIS AND ROUTH STABILITY CRITERION Multiple Choice Type Questions 1. If the system has multiple poles on the ja-axis, the system is (wey a) stable _b) unstable c) marginally stable 4) conditions Answer: (c) rs 2. The condition for stability of a closed loop system with characteristic equa, S° + BS? +Cs+1=0, the positive coefficient is [WBUT 2013, an | a) B+C>1 b) BC>1 c)B=C_ d) B>C Answer: (b) | | 3. The open sl transfer function of a unity feedback control system jg G(s hes here Tis a variable parameter. Th ; (s)H(s)= Ei) (Gan) aoa Parameter. The closediog system will be stable for all values of DWBUT 2013, | a)T>0 b)05_—d) 3.5 Answer: (c) AUTMen 4. The characteristic equation of a system is s* +2s+2=0. The system is [WBUT 2014, 2019 a) critically damped b) under damped c) over damped d) none of these | Answer: (b) | 5. The characteristic equation 1+G(s)H(s)=0 of a system is given by s*+6s?+1Is?+6s+K=0 For the system to remain stable, the value of gain K should be [weBUT 2018] a) zero “ b) greater than zero but less than 10 c) greater than 10 but less than 20 d) greater than 20 but less than 30 Answer: (b) 6. If the gain k of the system increases, the steady state error of the ene rr 2048) a) decreases b) increases c) may increase or decrease ) remains unchanged Answer: (a) CSEE-60CONTROL SYSTEM . insfer rein of a unity feedback control system is MF EWG + 5s). If the system is subjected to an input ie " 2 De the steady state error of the system willbe [WBUT 2019] a c) 0.01 d) 100 1 ee © ‘Short Answer Type Questions k by the transfer function G(s) = —__*“___, T,,T, >0 ante is dined y (S)= Tepe" T; ‘em will be stable. [WBUT 2011] the syst hematically that prove ma Answer ‘istic equation oe (n+ s+(4#)=0 jis formed as shown below: outh’s array aioe at (7+%) ° O)1+k 0 s jwmit>0 «Th is positive, ( MARY ASG Aeh Says tor stability es, k>-l. Since, forall values of k > 0, the system is stable. ‘The characteristic equation of a system is given by s’+3ks’ +(k+2)s+4=0. Find the range of k for which the system is stable, [WBUT 2012, 2013] Answer: 4 Torte the characteristic equation s’+3Ks*+(K +2)s+4=0 Tocheck the necessary conditions: Necessary conditions hold good. Tocheck the sufficient condition: Wefom Routh array: Colt Col2 Rowls? 1 K+2 Row2s* 3K 4 i Row3s! | 2K+2)=4 |g " 3K Row 4s” 4 CSEE-61POPULAR PUBLICATIONS To check for stability: nee To have a stable system there should not be any change in sign of Routh elemeng first column of Routh array, ice, My 3K>0 (Fromrow2) > K>0 age AR)Ed 2) (From row 3) > 3K(K+2)-450 > 3K? +6K-4>0 . ie,: Ki, K, =o N36448 See sis = 0.53 -2.52=-1.99 But K=~2.52 is not acceptable. Thus the range of K for stability is 0 s+4s°+16=0 Now, different the Auxiliary equation with respect to S. 4s) +85 s42s=0. The characteristic equation of a feedback system is. [WBUT 2015] 5°+45) +1657 +165 +48=0 aries the response is oscillatory or not. If so, determine the frequency of CSEE-63POPULAR PUBLICATIONS Answer: From the Routh Array: a 1 16 48 a 4 16 3 12 48 st 0 +. Auxiliary equation A(s)=12s? +48 4A(s) Fan 2s=0 een 160, 48 aed i6 st 24 s 16 12(jw)’ +48=0 => 12707 = 48 > 1207 =48 =o -MAKAUTMentor.in > — @=2rad/sec &. The open loop transfer function of a unity feedback system is given by K G(s)=——_>_. (s) s(1+s7)(I+s%) Using the Routh-Hurwitz method, determine the necessary conditions for the ‘system to be stable. [WBUT 2017] Answer: The characteristic equation of the system is TT; s+ (T, +T))s+s+K=0 The Routh’s array is formed as: cs Til i 1 s (Ti+) kK 8 [(T1+T2) — uel (Ti#T2), 0 Ss ‘ For stability, K > 0 and [(T\+T2) —K T)T3]0 or K < (Ti+ Ty) T:T2 ‘The range of K for stability: 0 2-3k=0 hi 1 3 2) .. k a is the maximum value +. Auxiliary equation 2s +k=0 ).47 rad/sec. 4a) State the Routh Stability criterion. [WBUT 2006, 2007] CSEE-65