Module Code: 6MAO49 Page 1 of 11 KNOWLEDGE + INNOVATION + ENTERPRISE (yy WOLVERHAMPTON Faculty of Science and Engineering EXAMINATION PAPER Module Code 6MA049 Module Title Automation and Control Date of Examination: June 2022 Examiner: Randeera Liyanage Examiner(s) Room: Time Allowed: 3 Hours Number of Questions to be attempted: 4 from 5 Alll questions are equally weighted (unless otherwise stated.) MATERIALS REQUIRED: * One eight page answer booklet. + Log-linear graph paper. * Scientific calculator INSTRUCTIONS TO STUDENTS: This is closed book examination. * You are to write your answers in the answer books provided “The Unversity of Wlverhampton Facuty of Sctines and Enginoonng‘age 20111 ‘Moxlulo Codo: 6MADAD Ge 1. A conventional spring mass damper system is shown in Figure 1 (a) Ifan extemal force *x(t)' is applied on the mass, it induces a force in the opposite direction from the spring and the damper consisting of a spring constant “k” and a damping coefficient of “b" respectively, resulting a change in displacement "y(t)" x(t) yi) oy Wom XSAN Figure 1 (a) (a) Using the appropriate theories, obtain the difference equation for the above system. 5% (b) Using the difference equation obtained in (a), derive the transfer function “G(s)" between external force input *x(t)" and displacement output "y({t)". 5% (c) Determine the values of damping ratio "%", natural frequency "w," and steady state gain "K,." if k= 1.Nm“, b 60 Nsm=! and M = 10 kg. 3% “The University of Wolverhampton Facully of Sence and Engineoting 00015»Module Code 6MA049 Page 3 of 11 (3) Hence, comment on the nature of oscillations in the system. a (e) Using the transfer function obtained in (b), and parameters mentioned in (0), draw the pole zero diagram and comment on the stability of the system, 2% (f) A proportional gain is introduced to the spring mass damper system ‘G(s)" and placed in a closed loop system as shown in Figure 1 (b). If the Proportional gain Kp is 10, determine the closed loop transfer function between the input “R(s)" and output "Y(s)" Consider “G(s)" as the open loop transfer function of the system after introducing the proportional gain and "H(s)" as the corresponding closed loop transfer function. 4% G(s) > Figure 1 (b) (9) fk =1Nm™, b = 60 Nsm=* and M = 10 kg, calculate the steady state error of system shown in (f) for a step input. 5% “The University of Wolverhampton Fcutyof Science and EnginceringModule Code: 6MA049 Page 4 of 11 2. The block diagram of basic closed loop process control system is shown in Figure 2 (a) with input *R(s)', output "C(s)" and error signal “E(s)" Ris) +. Els) —O— 1 (s+ DG + 100) Cs) Figure 2 (a) (a) Determine the closed loop transfer function £2 of the system. RS) 3% (b) Determine the steady state gain K., and the steady state error E,5 of the system for a step input. 5% (©) A proportional + derivative (PD) controller has been introduced to the existing system with "Ke = 4" and “Kn = 1" as shown in Figure 2 (b) to improve the system performance. Determine the resulting closed loop transfer function of the system and calculate the steady state gain Ky, and the steady state error E,, of the system for a step input. 10% Rs) + Els) FOO EOL kp kos 1 Cs) BFGF 10) Figure 2 (b) (d) Describe how the introduction of a proportional + derivative (PD) controller changes the steady state gain and steady state error of a system and describe why the derivative controller cannot be used alone without the combination of a proportional controller. 2% ‘The University of Wolverhampton Faculy of Sdlence and Engineering \ 00015Module Code: 6MA049 Page 5 of 11 (e) The proportional + derivative controller shown in Figure 2 (b) is transformed into a PID controller with an integral gain of "Ki= 3" to cancel the open loop pole at s= 1. The resulting system with PID control function is shown below. s?+4s+K; 99) = Sy Toist + 100s Using the above mentioned “Ki" value, show that the open loop transfer function is reduced to, 3% st3 6) = S6F 100) () Briefly describe the advantages of adding an integral gain “Ki” to the system, om “The Universiy of WoWvernampion Faculty of Science and Engineering ) 0000001! Module Code: 6MA049 Page 6 of 11 3. A unity feedback control system has the following open loop transfer function. a 99) = SaHEAD (2) Using the open loop transfer function above, obtain expressions for the frequency response (magnitude and phase) 2% (b) Plot the bode diagram (magnitude and phase) ioe (c) Measure and calculate the resultant Gain Margin (GM) and Phase Margin (PM). (Show your measurements clearly in the bode diagram). 5% (d) The design requirement for the above system states that there should be a Phase Margin (PM) of 70°. To meet the new Phase Margin (PM) requirement, the design engineers have decided to introduce a gain compensator as shown in Figure 3 (a). Determine the value of gain *K" required to provide a Phase Margin, PM =70° 8% 1 4 *) SFDG+a Figure 3 (a) ‘The University of Wolverhampton Feculy of Science and Engineering‘Module Code: 6MAO49 Page 7 of 11 4. The open loop bode diagram for the following system Gp(s) exhibits a Phase Margin, PM = 10°. A phase lead controller with the following transfer function. Gc(s) is used in conjunction with the process Gp(s) to increase the Phase Margin to PM = 40° 2s O= TD Leas 69) = Teas (a) Calculate the value of "a", rounded up to the nearest integer that will Provide the required Phase Margin of PM = 40°. 6% (b) If the maximum magnitude in the gain plot has a value of (10loga) at the maximum frequency of w, = 0.Srads“}, design a suitable phase lead controller, Ge(s).. 5% (c) Hance, draw the resulting block diagram with unity feedback and obtain an expression of the closed loop transfer function 1 with the phase lead controller Gc(s) in series with the process Gr(s). a (d) Determine the frequency response (magnitude and phase) of the open loop system with the phase lead controller Gc(s) in series with the process Gr(s). 6% “The Univer of Wotvernampton Faculty of Sclence and Engineeringoft Module Code: GMA04S Page 8 5. An analogue controller is designed with the following transfer function G(s). The design engineers have decided to implement a digital version of the controller. Initially, a sample increment of T : seconds is used to check the compatibility of the digital controller for a step input. The digital controller's response to a step input should closely resemble the corresponding response of the analogue controller, (a) Using bilinear transform or a similar method, obtain the equivalent Z transfer function. 5% (b) Using the Z transfer function, determine the corresponding difference equation and plot the unit step response of the digital controller for a period of Os < ts 6s, 8% (c) Calculate and plot the step response of the analogue controller G(s) for a period of Os d 1+ts G(s) a-1 sin(m) = ati 1G Gom)|dB = New Gain + Old Gait Where w,, is the frequency at which the maximum phase angle (¢) occurs. Second Order System Standard Form K sso St + QXans + oF G(s) Standard Performance of a Second Order System " Way? Time to first peak; Ty = Settling time; T, Rise time; T, Percentage Overshoot; %0S = e~@"/VF®) x 100 Z =001xPM mea Wey EET (Si) = var -¢ Where ¢ is the damping ratio, wy is the natural frequency, w is the crossover frequency ‘and PM is the Phase Margin. ‘The University of Wolverhampton Faculy of Science and Engineering00015 Module Code: 6MA049 Page 10 of Bode Plot GM =0-x PM = +180 —x dB = 20log(K) Modelling Equations Spring; F = kx(e) Damper ; F = bx(t) ay, Capacitor Current; fe apacitor Current; 1= 6.0 Inductor Voltage; V= nate Steady State Error E(s) = R(s) — X(s) R(S) +69) Where “G(s)" is the open loop transfer function, and “R(s)" is the system input. Es) = Bilinear Transform Where T is the sampling time. Zero Order Hold G(z) = Gc(z).(A-27).2 “The University of Wolverhampton Faculy of Science and EngineeringModule Code: 6mA049 Page 11 of TABLE OF LAPLACE AND Z TRANSFORMS, G¥a? +o? f(t) (kK) F(z) ‘unit impulse: a 1 5k) 1 delayed unit imp a o0-¥) 1 unit step: 1 : 1 1 unit ramp: t 2 er a a _ © sta « ok | Le 1 Tare x les z | : KI | inetlt stew) 1-e | Ts) ee [ree - - i-a* | sin (ot) Feat Go Fao o eteiaet Gore ar ; +a) END OF THE EXAMINATION PAPER ‘The University of Wolverhampton Faculy of Science and Engineering00015