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FUNDAMENTALS OF CONTROL SYSTEMS -
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ENGR 87%4
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EXAMPJA~ON OATE TWE ~WPAGES
FINALEXAM APRIL 24 ,2001 14&k00h 3
LusrwCTOR r,
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--
SXashtrudi Zad, H.Honi: J.v.s&&&
A =

NSuresh

S?EX
ONLY
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X calculators wiU be allowed.
Attem&all problems. All solution steps.-must be shown clearly.
Iden* ansmrs dearly.

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Shown below is the simplified schematic representation of a o n e - d s ci&d loop drive for a
CNC[Computer Numerical Controlled] machine tool.The tool pasition fit)is controlled by the
computer-generated command voltage dt).The proportional controller with voltage gain Kc
compares the command X(s) with the position-feedback signal XF(s) derived from a h e a r
feedback-potentiometer.The coneoller voltage output U(s) drives an electromechanical torque-
motor represented by an R-L load impedance and a gain factor KM .The torquGmotctormoves
the spool of a servo-actuator, result* in the tool movement Y . q e functional relationships,
- in
the s-domain ,between the various -system components are &o given below.
tl
Position feedback
1 Electrical & Hydraulic Power i f -fotentiomerer
i connections not shon-n i
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Computer-
controlled Input
f
-
-- - -
I

Position Error signal E(s) = X(S)-XF(S) . I

I
Controh d t p u t u(s)= w s ) , & = 10vo~t/vo~t , p,m I
I

, ' ~ ' & 1 0 0 ~, L.: 1Henry

I
Motor 6 h t I(s)= U(s) I
I
R+sL I

( Tool Position Y(s)= Gi(s)MS) , GA(s)= .

s( 1 + 0.26 s)
' 100 metreknetre
I

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Feedback signal XF(s) = KF.Y(s) , KF= I volt/metre -- -2:I
I
1
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(i) Draw the block di&

and parameters clearly.
(i.)0b&
h-h
- '-+-
of tht$tmtrol &iish_~~ying all vz-riibles
= 2 - ~ ~#
,.- ;g;
),?-
the open-loop k f e r function G(s)H(s) and the closed-loop transfer function T(s)
where T(s)= Y(s) /X(B), . :, K
(iii, Draw the polezero diagram of ( ~ B ) H ( . S ~ ~nedce
X I & shqP
~ &t5&e dynamics of the
torque-motor can be neglected in cornparision with that of tfie fe'wda6tktor.
, (iv) With the simpMcation p d d e d in (iii)alppe, show that the overall CNC machine tool
drive model is a unity-gain,critically- damped eecond- order system with an undamped
natural hquency of 2 radidsec.rHint: Remember to include the DC gain of the neglected
term in the open-loop transfer function when derivingthe overall approximate transfer fundion]
PROBLEM 6 2 [12 Points] \

(AIComider a unity-feedback control system with the ---

open-loop
- -
transfer function :
G(*)= 2 e ' + 2 s + l ' - - a 0
, *

( 8 2 - 1) ( 8 - a ) -
(i) Use the Routh-Hurwitz Criterion-to find the range of a h r which the closed-loop
system will be stable. - '"1

(ii) Find the value of a at which-€he system will begin-*to d a t e and also the -- frequency
of the oscillation .
(B) A unity feedback system has the open-loop transfer function : --
K(s.+2)
G(s) = S(S + 1)( 8 + 3 )
(i) Draw the root locus- of the closed-loop system for K > 0 ,showing all the relevant steps
clearly.
(ii)Show that the point sl=- Od88 + j 0 S 8 lies on the mot locus and determine the gain K
a t the point sl .
@ (iii)Assuming the gain K is set to the value obtained in (ii) above, determine an estimate of
the settling time T, (= %ton) of the step response of the closed-loop system.
-- -
f
PROBLEM # 3 112 Points]

The block diagram of a feedback c o n h l system is shown below, where R(s) is the input signal,
Y(s) is the output signal and D(s) is a disturban& signal. I Ds)

(i) Find values for K and Kl such that the poles of the closed- loop system- will be located at
the points - 1 B l t j 3.14 onthes-plane.
(ii) Assume d(t) = 0. Detelmine the steadystate error , e ,usine error coefficients, if the input
signal is r ( t ) = l + t iathe~teady.t.tcnleed&~~IEb)l - -
(iii)Determine the steadystate butput y,(t), t + ,for a simultaneous unit step input mdaa
unit-step disturbance input. -
(iv) Determine the sensitivit of the transfer function T(s)=Y(s) I R(s) to &velocity-feedback
constant K, ,k derive K, 8 - -
Cd . : 2
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PROBLEM # 4 [lo Points ll_il,P. :.,

= I!?: :: : *I:,
-* ~
...
-- .I ,,.l <---
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The open-loop transfer function of a unity-feedback system is @venSby:

. ..
.-. - - .<
. .~..
-.. -
I~
.
. .. -
..
.
.
. ..,
. .* . . ,..
.
. ,. ,.
. -..
7-
- .-; G(s) = .
' .i;.!eri;3:-. .,., -.!-, . ie .: , ,?

8 '(s+4) (s+10)
~

The gain K is to be chosen d c h t h a t *e steadystate .- enpr, of the closed-loop system to a unit

ramp input is
(3 -
. :>Yt-l.
.-
- &?-.x&
@
: - --A

(i) Determine K and sketch the mrrea~ridhgBode m a g d u d e plot of G@).

. m----- -
(ii) Calculate the p h e ma&n Opm if it is. Gown that jhi *b-ka.in crossover frrquency
wl= 665 radiadsec ,for the K choeen in (i).

- (iii ) Sketch the polar plot of the open loop transfer function G(io) ,for ththe K chosen in (i),
and determine the gain mclrgin GM of the system using the polar plot
M #5 [ 11 Points I
*P
(A)The block &agram of a third-order feedback control system is shown below.

@ (i) Design a cascade phase-lag cc&pensatoi which will &ch will reduce the steadystate error
of the uncom nsated system to a unit step input by a factor of 10. Use a compensator of
the form + 2
S+Pc 4
(ii) Draw the block diagram of the compensated system.
(B)The systom whose block diagram is shond%elow, has dominant poles located a t -1.2 +j 2

(i)Determine the gain K required for the above dominant poles . Also determine the
damping ratio and the settling time T, of the approximated second-order system.

(ii) I t is desired to improve the eyetem transient response by means of a cascade PD

compensator of the form Gc(s)=%(s + - 4) .Deaign a suitable compensator first .

determine 4 and then H,] to d u c e the aaUbg time T, (= %a+,) of the original
system by a factor of 8 ,-L.ilLout ch&&%e damping ratio 5 .{ Hint: Use a graphical
design procedure in the a-plane, applying the a n g l ~ t e r i o n
as well as the magnitude-
criterion of the root-locus ) . n

(iii) Using a rough sketch of the mot-locus of the compensated system ,comment on the
+-*
L=
validity of the assumption that the new complex closed-loop poles are stdl dominant.
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