UNIVERSITY OF NAMIBIA DEPARTMENT OF ELECTRICAL, COMPUTER & ELECTRONICS AND MECHANICAL ENG. CONTROL ENGINEERING/ MODELING AND ANALYSIS OF DYNAMIC SYSTEMS Date: 15/03/2023: 2:30 P.M. (Time 2 Hrs) SEMESTER I- TEST I: QUESTION 1 MEMO (a) A good control system should be Sensitive and Accurate. Explain why (4) ‘A good control system should be highly accurate to ensure that actual response is close to desired response with less errors/¥, while a good control system should be insensitive to environment disturbance but sensitive to input commands, this will ensure that It only responds to desired commandsy (b) Explain why an Open loop control system cannot perform well in the presence of disturbances Q) Open-loop systems act solely on the basis of the input and do not use feedback from the output to self-correct, Y So disturbances will affect the intended actual response giving inaccurate results ¥ (©) An Input signal which can be a stimulus, excitation or command is also referred to as? Give 3 (THREE) related terms BI © Physical variable” «Reference set point¥ Desired valuev (a) With respect to Automatic Bread toaster: what is(are) outputs, inputs and plant 14) Inputs: Desired time, Power“; Output: Actual toastv ; Plant: Heating process of the bread¥ (c) Fig. Q 1.(¢) shows an aircraft elevator control system for high speed jet aircraft. The aircraft uses power assisted devices or servomechanisms to provide large forces necessary to operate the aircraft control surfaces. Model the physical system by deriving its block diagram. State the input signal(s), output signa(s), controller and any feedback loop(s) [8] ‘Actual angle measured by angular sensor is compared with desired angle through a feedback” Y, Input signal: Desired anglev, Actual anglev,, controller~ Fluid Desired Error Control. Flow-rate. Hydraulic Actual ingle Signal Signal (m/s) Force ‘Angle (deg) [input |ivy+ (vy (N) +™ (deg) >| Angular Al conrotor| Ml Sere | 4! Hysraute |e etevatr|— p> mer] a vane al Cylinder ve Hydraulic: » Eleetrohydraulic Syndr Servovahe Fig. Q Le) QUESTION 2 (a) You have been given a mechanical system, List steps involved in determining if the system is stable. 14] Using u as input and y as output Derive the differential equations governing the system. ¥ Convert the equation of the system from t domain to S domainy’ Find the transfer function from U(s) to Y(s) ¥ Solve the characteristic equation of the transfer function by determine the roots of the equation, location of the roots on the S- Plane will determine the nature of ity of the systemY(b) Define the term transfer function and explain why it is important to specify zero conditions 3) ‘Transfer function of an LTI system is the ratio of Laplace transform of output to Laplace transform of the input when it conditions are zero. ¥¥ If some it nonzero, then the system is not LTI. A transfer function is only” 1 conditions are (©) Using the Routh-Hurwitz criterion and the unity feedback system shown in Fig. Q 2. (¢) with _ K GC) = Geer Der 5) Ae) +0 Bly ch VV G(s) v | - | | | Fig. Q2. (c) Find the range of K for stability 18] Kk T(s) = (=a FBS e TIT TOs KV 5 I 7K x 10 | 0 #| K [0 s | o|0 V Ea ° < - : eee ee = SK For stability 0 < K < 10.0. Wf Qso@ : , (@) For the system deseribed bythe diferent equation below. Determine its transfer function from u to y BI U+3y-W+y=i-3i4u v U+39§-WHy 34 2u 4 4) re fi2 Gs) = nf ne (s) UM 843-2541 QUESTION 3 (a) Explain 3 (THREE) methods used for modeling a physical system. What important information can you learn from the models developed by the methods? (8) Y This reduces a complex dynamic system to one block which defines behavior of that system using a simplified equation in the block” > Differential equation derivation: ¥ Using physical laws the behavior of the system is determined by deriving a complete set of equations, they give the order of the system (1, 24, 3" and other higher orders) VV > Transfer function: ¥ Differential equation is converted to transfer function using Laplace transform. This is used to analyse stability of the systemy¥ > Block diagram reductic (b) Determine the Transfer function v-(1)/1(1) of the electric circuit shown in Fig.Q3(b) [4] Use the following equations: 1) KVL V 2) KCL Calculate the Laplace transforms and derive the TF: VA Vels)_ de . Vis) Rels+R L . 02 CFI Fig. Q 3 (b) (©) Using Blok reduction method, determine the transfer function C(s)/R(3) for the system su ie Fig. Q3(c) Split G3 and combine with G3 and G4. Also use feedback formula on Ge loop. 6, ces) > 190, Vv °, #—_ RES) + 6s) 2° SsUsing the feedback formula and combining parallel blocks. \/ Rs) + 6,46, i 6, ces) - 1+ 6(6,+6,) 146, so \+ V 1) = G44 65634 666363455656, VY TG g+ G35) + G2 + Gy G5 Gye Gy G55 GG Gey GGG G5O} + OG OE +OECIE| 1G7(s)] Fig. Q3 (0) (@) Obtain the transfer functions X1(s)/U(s) and X2(s)/U(s) of the mechanical system shown in Fig. Fig. Q3 (4) Mm Fig. Q 3d)LL id New re TR TAR TD 5p = hy ty - by — bs (4) + & 2% = hb — ks (a~ x) Rewriting, we have MX) +b, H, + hy yt hs%, = hs Xt % mit ht, thet thet ah % Vv By eliminating X2(s) from Equations (1) and (2), ve get ke (rn 4 bs tht hy XO) = = 1 ms‘thyst kathy Xt) mSthsthith Te) ~ Tms*ebst hi ths)(m s*tbastkathy) “Ay Prom Equation (2), ve obtain A. __ ks MO) ~ ms bust hath Hence Yai) Ki TO) XD TOD (mys*+s thy thy) (mm $+ by sr hat hs)~ hs ww