FME 511 MECHANICS OF MACHINES IV

CAT 1: 19 February 2020 TIME: 1 HOUR

INSTRUCTIONS
1) Attempt all questions
2) All symbols have usual meaning

QUESTIONS (30 marks)

1. Define the following terms as used in Control systems; (6 marks)

a) A sensor
sensor is basically a transducer, a device that transforms one type of physical
quantity to another, usually electrical
b) Time response
The manner in which a dynamic system responds to an input, expressed as a function
of time.
c) Transfer function
the ratio of the Laplace transform of the output y(t) to the Laplace transform of the
input u(t).

2. Differentiate between an open loop and closed loop control systems (3 marks)
Open loop Closed loop
1. Control action is independent of Control action is dependent of
the desired output the desired output
2. Feedback path is not present Feedback path is present
3. Easy to design Difficult to design
4. They are economical They are quite expensive
5. Inaccurate Accurate

1
3. Find the transfer function of the block diagram shown in figure below. (6 marks)

2
 4. A system consists of a first-order element linked to a second-order element without
interaction. The first-order element has a time constant of 5 seconds and a steady-
state gain constant of 0.2. The second-order element has an undamped natural
frequency of 4 rad/s, a damping ratio of 0.25 and a steady-state gain constant of unity.
If a step input function of 10 units is applied to the system, find an expression for the
time response. Assume zero initial conditions. (8 marks)
Solution
R(s) 0.2 16 C(s)

1+5𝑠𝑠 𝑠𝑠 2 +2𝑠𝑠+16

𝐶𝐶(𝑠𝑠) 0.04 16 0.64

=� �� 2 �=
𝑅𝑅(𝑠𝑠) 𝑠𝑠 + 0.2 𝑠𝑠 + 2𝑠𝑠 + 16 (𝑠𝑠 + 0.2)(𝑠𝑠 2 + 2𝑠𝑠 + 16)
10
𝑅𝑅(𝑡𝑡) = 10, taking Laplace transform gives 𝑅𝑅(𝑠𝑠) = 𝑠𝑠

𝑠𝑠 2 + 2𝑠𝑠 + 16 has complex roots therefore partial fraction equivalent is as below;

0.64 6.4
𝐶𝐶(𝑠𝑠) = 𝑅𝑅(𝑠𝑠) × =
(𝑠𝑠 + 0.2)(𝑠𝑠 + 2𝑠𝑠 + 16) 𝑠𝑠(𝑠𝑠 + 0.2)(𝑠𝑠 2 + 2𝑠𝑠 + 16)
2

6.4 𝐴𝐴 𝐵𝐵 𝐷𝐷𝐷𝐷 + 𝐸𝐸
= + +
𝑠𝑠(𝑠𝑠 + 0.2)(𝑠𝑠 2 + 2𝑠𝑠 + 16) 𝑠𝑠 𝑠𝑠 + 0.2 𝑠𝑠 2 + 2𝑠𝑠 + 1 + 15
6.4 𝐴𝐴 𝐵𝐵 𝐷𝐷𝐷𝐷 + 𝐸𝐸
= + +
𝑠𝑠(𝑠𝑠 + 0.2)(𝑠𝑠 2 + 2𝑠𝑠 + 16) 𝑠𝑠 𝑠𝑠 + 0.2 (𝑠𝑠 + 1)2 + �√15�2

6.4 = 𝐴𝐴𝐴𝐴 3 + 2𝐴𝐴𝑠𝑠 2 + 16𝐴𝐴𝐴𝐴 + 0.2𝐴𝐴𝑠𝑠 2 + 0.4𝐴𝐴𝐴𝐴 + 3.2𝐴𝐴 + 𝐵𝐵𝐵𝐵 3 + 2𝐵𝐵𝑠𝑠 2 + 16𝐵𝐵𝐵𝐵 + 𝐷𝐷𝑠𝑠 3 + 0.2𝐷𝐷𝑠𝑠 2 + 𝐸𝐸𝑠𝑠 2 + 0.2𝐸𝐸𝐸𝐸

𝑠𝑠 3 : 𝐴𝐴 + 𝐵𝐵 + 𝐷𝐷 = 0
𝑠𝑠 2 : 2.2𝐴𝐴 + 2𝐵𝐵 + 0.2𝐷𝐷 + 𝐸𝐸 = 0
𝑠𝑠1 : 16.4𝐴𝐴 + 16𝐵𝐵 + 0.2𝐸𝐸 = 0
𝑠𝑠 0 : 3.2𝐴𝐴 = 6.4
𝐴𝐴 = 2, 𝐵𝐵 = −2.047, 𝐷𝐷 = 0.046, 𝐸𝐸 = −0.3171
2 2.047 0.046𝑠𝑠 − 0.3171
𝐶𝐶(𝑠𝑠) = − +
𝑠𝑠 𝑠𝑠 + 0.2 (𝑠𝑠 + 1)2 + �√15�2

Splitting the third fraction into two Cos(t) and Sin(t) identities

2 2.047 𝑠𝑠 + 1 √15
𝐶𝐶(𝑠𝑠) = − + 0.046 2 − 0.0938 2
𝑠𝑠 𝑠𝑠 + 0.2 (𝑠𝑠 + 1)2 + �√15� (𝑠𝑠 + 1)2 + �√15�

3
Taking laplace inverse transform;

1 1 𝑠𝑠 + 1 √15
[𝐶𝐶(𝑠𝑠)] = 2 � � − 2.047 � � + 0.046 � 2 � − 0.0938 � 2�
𝑠𝑠 𝑠𝑠 + 0.2 (𝑠𝑠 + 1)2 + �√15� (𝑠𝑠 + 1)2 + �√15�
Final:

𝑐𝑐(𝑡𝑡) = 2 − 2.047𝑒𝑒 −0.2𝑡𝑡 + 0.046𝑒𝑒 −𝑡𝑡 𝐶𝐶𝐶𝐶𝐶𝐶√15 𝑡𝑡 − 0.0938𝑒𝑒 −𝑡𝑡 𝑆𝑆𝑆𝑆𝑆𝑆√15 𝑡𝑡

𝑐𝑐(𝑡𝑡) = 2 − 2.047𝑒𝑒 −0.2𝑡𝑡 + 𝑒𝑒 −𝑡𝑡 �0.046 𝐶𝐶𝐶𝐶𝐶𝐶√15 𝑡𝑡 − 0.0938 𝑆𝑆𝑆𝑆𝑆𝑆 √15 𝑡𝑡�

5. a) Determine the transfer function relating V2(s) and V1(s) for the passive electrical
network shown in Figure below.
b) When C=2µF and R1=R2=lMΩ, determine the steady-state gain K and time
constant T.
c) Find an expression for the unit step response. (7 marks)

Solution

Law of voltage at a junction

𝑑𝑑𝑑𝑑2 𝑉𝑉2
𝑉𝑉1 (𝑡𝑡) = 𝑅𝑅1 �𝑖𝑖1 (𝑡𝑡) + 𝑖𝑖2 (𝑡𝑡)� + 𝑉𝑉2 (𝑡𝑡) 𝑏𝑏𝑏𝑏𝑏𝑏 𝑖𝑖1 (𝑡𝑡) = 𝐶𝐶 ; 𝑖𝑖2 (𝑡𝑡) =
𝑑𝑑𝑑𝑑 𝑅𝑅2
Substituting 𝑖𝑖1 (𝑡𝑡) and 𝑖𝑖2 (𝑡𝑡) into voltage law equation;
𝑑𝑑𝑑𝑑2 𝑉𝑉2
𝑉𝑉1 (𝑡𝑡) = 𝑅𝑅1 �𝐶𝐶 + � + 𝑉𝑉2 (𝑡𝑡)
𝑑𝑑𝑑𝑑 𝑅𝑅2
𝑑𝑑𝑑𝑑2
𝑅𝑅2 𝑉𝑉1 (𝑡𝑡) = 𝑅𝑅1 𝑅𝑅2 𝐶𝐶 + 𝑅𝑅1 𝑉𝑉2 (𝑡𝑡) + 𝑅𝑅2 𝑉𝑉2 (𝑡𝑡)
𝑑𝑑𝑑𝑑
Taking Laplace transform assuming zero initial conditions;
𝑅𝑅2 𝑉𝑉1 (𝑠𝑠) = 𝑅𝑅1 𝑅𝑅2 𝐶𝐶𝐶𝐶𝑉𝑉2 (𝑠𝑠) + 𝑅𝑅1 𝑉𝑉2 (𝑠𝑠) + 𝑅𝑅2 𝑉𝑉2 (𝑠𝑠)

4
 𝑉𝑉2 𝑅𝑅2
(𝑠𝑠) =
𝑉𝑉1 𝑅𝑅1 𝑅𝑅2 𝐶𝐶𝐶𝐶 + 𝑅𝑅1 + 𝑅𝑅2
Standard form:
𝑅𝑅2
𝑉𝑉2 𝑅𝑅1 + 𝑅𝑅2
(𝑠𝑠) =
𝑉𝑉1 𝑅𝑅 𝑅𝑅 𝐶𝐶
1 + 𝑅𝑅 1+2𝑅𝑅 𝑠𝑠
1 2

𝑅𝑅2 𝑅𝑅1 𝑅𝑅2 𝐶𝐶

𝑇𝑇ℎ𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒𝑒; 𝐾𝐾 = = 0.5 𝑎𝑎𝑎𝑎𝑎𝑎 𝑇𝑇 = = 1 sec
𝑅𝑅1 + 𝑅𝑅2 𝑅𝑅1 + 𝑅𝑅2
1
For unit step, the input 𝑉𝑉1 (𝑡𝑡) = 1. Taking Laplace transform gives 𝑉𝑉1 (𝑠𝑠) = 𝑠𝑠

0.5 0.5 1
𝑉𝑉2 (𝑠𝑠) = × 𝑉𝑉1 (𝑠𝑠) = ×
1 + 𝑠𝑠 1 + 𝑠𝑠 𝑠𝑠
0.5 𝐴𝐴 𝐵𝐵
𝑉𝑉2 (𝑠𝑠) = = +
𝑠𝑠(1 + 𝑠𝑠) 𝑠𝑠 𝑠𝑠 + 1
0.5 = 𝐴𝐴(𝑠𝑠 + 1) + 𝐵𝐵𝐵𝐵 = 𝐴𝐴𝐴𝐴 + 𝐴𝐴 + 𝐵𝐵𝐵𝐵
𝑠𝑠1 : 𝐴𝐴 + 𝐵𝐵 = 0 𝐵𝐵 = −0.5
𝑠𝑠 0 : 𝐴𝐴 = 0.5
0.5 0.5
𝑉𝑉2 (𝑠𝑠) = − 𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑜𝑜𝑜𝑜𝑜𝑜
𝑠𝑠 𝑠𝑠 + 1
0.5 0.5
𝐿𝐿−1 [𝑉𝑉2 (𝑠𝑠)] = 𝐿𝐿−1 � � − 𝐿𝐿−1 � �
𝑠𝑠 𝑠𝑠 + 1
𝑣𝑣2 (𝑡𝑡) = 0.5(1 − 𝑒𝑒 −𝑡𝑡 )