UINIT Tiue Cor

MATHEMATICAL MoDELING OF CONTROL

SYSTEM1s SA CROUP

GRO

Syllabus
MATHEMATICAL MODELING OF CONTROL SYSTEM&: Classification of control systems Open loop and closed loop
e
control systlems and their differences Feedback characteristics Transfer
-

function of linear system Diferential equations of electrical

-
-

networks Translational and rotational mechanical systems Transfer function of D.C servo
motor A.C servo motor
Transmitter and receiver- Block diagram algebra
Synchro, -

Representation by signal flow graph -Reduction using Mason's gain formula

LEARNING DBJECTIVES

Open loop and closed loop cotrol systems and their examples

Feedback characteristics

Translational and rotational mechanical

system

Transfer function of D.C and A.C servomotor

Synchro-transmitter and receiver

Representation of signal flow graph

INTRODUCTION

Control system is an arrangement of physical components

connected in such a manner that they command, regulate, dired or govem
themselves or another system. In other words it is an interconnectlon of components forming a system which provides a desired
system response.
Control system Is generally dassifled into two types ie, open loop control system and dosed loop control system.
In industrial
practice, various types of control systems can be found sugh as mechanical (translational and rotational),
elecrical,
hydraulic pneumatic etc. James Clerk Maxwell first introduced the mechanical-electrical analogles in the 19th century to exploin
the electrical phenomena In more famillar mechanical tems. He was the flrst to assoclate force with
1873. Due to the voltage in
similarity between equilibrlum equations of electrleal and mechanical systems the electrical equivalent of medhanlcal system can
be drawn easily.

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 cONTROL SYSTEMS IJNTU-KAKINADAA 1 (Mathematical Modeling of Control Systems) 1.3
1.2

AND CLOSED LOoP ONTROLSYSTEN

OPEN LoOP
SSIFICATION OF CONTROL SYsTEM,
AND THEIR DIFFERENCES
Q1. Discuss about the classification of control systems. ApriluMay-13, Set4, 01a
Ans:
Classification of Control Systemns
Linear and Non-linear Control Systems
Examples nonlincar element lor higher value
beconme a nonuc
l become
it will
for low values of current, but
storIsa lnear element only
curent because of increase in temperature the resistance
values of
changes.
current, but
its inductance
becomes
hi
nonlinear forhgher Figure (2)
(ii) inductance for low
only
lincar To control the temperature
as
values of curent, which causes saturation of core.
etc., are non-incar systems
ofelectric fumace with computer or microprocessor controlled system, is an exampleofdiscrete
transistors and thyTIStors system.
devjces like diodes,
systcnms which consists of non-linear hysteresis) presen
uc
yo ystem wil Determinlstic and Stochastic Control stems
dead zone,
any one
of the non-lineanities (friction, saturation,
Example
become a non-linear system.
of system output will not depend on the
magnitude input, bur in non-lnear systems the
of the
A ship-mounted navalgun firing on a target which is on level for a mentioned gum angle, the firingofthe gun should reach
An inear system, the form signal apped to a near system, ite
a
excitation
is the shells at the same spot. The output sf this system is very certain because of various factors like roll and pitch of the ship due
When sinusoidal
e ouput may change with increase in magnitude.
a
non-linear system is With hatmonis
non-Sinusoidal to waves, small ditferences in shellsizes, shape and fire power. So, ihis type of system is an example of stochastic control system.
But the output of a
frequency.
Snusojdal signal with same
Lumped Parameter and Distributed Parameter Systems
for the same sinusoidal excitation signa. 5.
Examples
2 Time-variant and Time-iavariant Systems
) Thermal systems (Heat fow) are distributed parameter control systems, because the parameters of the system (thermal
Time-variant Systems resistance and thermal capacitance) are distributed parameters.
then that system is knoWn as
ime-variant system.
Onc (or) more than one system parameters changes with time,
(i) The parameters (resistance, inductance andcapacitance) of long transmission lines are distributed parameters,therefore
Time-iovariant Systems the power systems with long transmision lines are distributed parameter systems.
fixed i.e., parameters of the system will not change with tume, then that system is known as
ne system parameters
are

time-invariant system. a2. Define open loop and closed loop control system.

Examples Ans: Model Paper-l, a1p)

The resistance of windings in electrical machines will vary with time because this resistance increases due to the increase
Open Loop Control Systems
in temperature because of copper losses in the machine.
time-variant system because the mass of fuel The open loop control systems is the system which the output has no effect on the input or Control Action. The block
(1i) The equation of the motion of a rocket in vertical height is an example af
diagram of open loop control system is shown in figure,
which is to be burnt to develop the required thrust will be decreasing.
3. Continuous (Analog) and Discrete (Digital) Control Systems
Command Reference Reference Controller Plant Controlled RL
Example Input TransducerInput output
Continuous (Analog) Control Systems
if in a particular system, all the system variables are functions of time at every instant, then such a system is called Fiqure: Dpan-Laop Contrel System
continuous system. A continuous time signal is shown in figure (1). In open loop control systems, the command input is passed through the reference transducer to generate reference input
and this reference input is again passed through the controller to generate actual input signal and this is again passed to the plant
where the actual processing is performed to generate the desired output.
Closed Loop Control Systems
The closed loop control system is the systems in which the output has an effcct on the input signal. The block diagram of
closed loop control system is shown in figure.
Eror Detector

Controlled

Figure (1)
An example of a continuous system is the speed control of a D,.C motor using a tachogenerator feedback.
Command
Input
Reference

TransducerRefcrenceError
UP
sígnal
Controller
- ouiput

Discrete (Digital) Control Systems FeedIBack

element
Ifin a particular system, all the system vanables ae not functions
of time at every instant, then such a system is called discree
system. A discrete time signal is shown in figure (2).
Figure: Closed Loop Control Systems

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 cONTROL SYSTEMS IJNTU-KAKINAD 1 (Mathemaloal Modelingof Control 6
1.4
ysteme)
thec relcience This relerens.
jnput. This relernce löpint j Ablcatlons of FeedbackControl System 1.8
First thecommand input is passed drough the reterenee iransducer to generate tne mut and output
unber pasSd
reterCice
lome lHeating Systems
through error detector whert the error signal is generated by comparig w hch is lurther processed to the .
U
signal,
s generated is passed through the controller to generate the Bctua nput rauired eriteria, then it Is ngain fed back Desired
to achieve the
desired output Houever. if the Temperaiure Hefing House
outpul achieved dx results are achicved.
System Temperuture
CrTur detetor
through fecdhack element and the process is repeated ull the salislactory
Properties of Closed Loop System
Internal stability
Unconditional stability Themal
Measured, Sensor
Integrity
Terdperature
Decentralized unconditional stability
Figure (2) shows how feedback control system is usedFigure (2)
03. control systems?
What are the
differences between open loop control and closed loop (April-11, Se-3, 01@)| Model Papord,Q1a in home heating
system. Temperature ofhouse is measired by thefma
Ans: and is given back to error detector
through feedback. Error detector compare this temperature with desire
desire value, valve of the fumace is temperature
control system. In general, the com nerates the error signal to operate the valve, If and
is known as
gener
temperature is lower than
5ystem are classiñed in
u
OUput quantity by varying its input quantity and the systems wthout feedbae tenperalure higher than
uperature isis ngner nan
the desire value,
value, valve
valve f
of the furnace is tumed OFF. Here, the controller used is ONOFF turmed ON and if
n to wo types
Systems with feedback arce known as closed loop systems controller
o Automatie Tank-level Control System
Closed Loop System ETor detoctor
Open Loop System (Potentiometer)
the presence of leedback element, closed
Accuracy of this system depends upon the calibration. Due to
accurate.
of the input. loop sy'stem is more
Cotrol element Pant
Generally these systems are stable in operation. The stability of these systems depends on the Referance (Motor) (Liquid eve)| Otput
design of feedback
elements. desire quid
ev
3. These are simple in construction. These systems are complex in construction

These systems require less components. So, these These systems require more components. So,
are more costlier.
systems are less costlier. these sy'stems Feedback
These systems are less accurate and reliable. These systems are more accurate and reliable.
Feedback is absent. Feedback is present.
Variations in parameters greatly affects the output. Effect of parameter variation is very less. Fiqure (3
Figure (3) shows how feedback control system is used to control the level
The time constant of open loop system is more. 8.
The time constant of closed loop system is less, of liquid in tank. Here, foat sense the liquid level
which is feedback element path. Shider of the potentiometer (error detector) is connected to the float. Another arm
Hence, speed of response is lh Hence, speed of response is very high.
is connected to desired liquid level (reference input), When ever there is of potentiometer
in liquid level, potentiometer (error detector)
The bandwidth of open loop system is small. Bandwidth of blosed loop system is greater
change
9 than generates eror voltage which is proportional to change in liquid level. Motor which is control element is actuated
by error voltage.
open loop. Sample Data Control System

Q4. lustrate at least three applications of feedback control systems.

Ans:
e(0Data hold Phint C
Pulse
Digital fiker
Feedback Control System Command tran

Eror detector Controlled output

Reference Control
Plant Fiqure (4)
nput element
Figure (4) shows sample data control system. Here, sampler samples the eror signal e() for every T-seconds.
which used here is electronic switch and output of sampler is discritize version of analog error signal which is train of Sampler
is
pulse of
sanmpling frequency and strength of each pulse depends on error signal. The output signal u() is passed through data hold and is
Feedback then filter by digital filter according to control algorithm. This signal u() is used for manipulating plant.
eement
Q5. Explain the trafic control system concepts using open loop as well s closed loop system.
Ans:
Figure (11 The traffic control system concepts can be explained using the open loop and closed loop system.
General block diagramoftypical feedback control system is shown in figure (1).t consist of eror detector,controlelement Open Loop System
and feedback element.
Arny physical ystem in which the output does not have any efeiet on the input qf the system is caled as openloopsysiem.
Function of eror detector is tó compare a signal obtain from feedback element with a reference
input. In traffe control system, the output is tocontrolthe fow of tafie. The traffic comtrol system employs the of raftic
use

Control element gets actuated ifthere is any difference between relerence input and controlled output and alters
the conditon
hghs or signals
in
to
control the fow oftrafic. The trafñe lightsorsignals are operated on timely basis.aThe trafic fow is
of the plant. Confronted aparticular direction with the lights ofon the sighal which are tums and timing
time dependent The
which
of the signal lights is
aUsiedtrafie
depending on the study made on the fow trefic. The signal light red green
is regulated which is the output. The representation of the traffe control system
are iaputs and the
the
Feedback clement provides feedback from output to error detector.
ow of open loop system is shown
as an
below,
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 cONTROL SYSTEMS IJNTU-KAKN
iNI
uf. 1 (Matthemalical Modelirig of Control Systama)
1.7
1,6 rdhack is the eontrul adtion ti whieh the
ed with uhe rejereite input output
and an error 8ignal is
ed which 8 given o he
input based on which the
tlafe controlling adfton can he
a n be positlve or
Lnsplemeited.
The
negative. When the vign ol the
Trafthe Control Systen k wignal
posilive, he system is known positive
is
as Figure 1)
Figere (1 Open Lnop netvAl and ate notde
traie tught hange by
the ptset
me

pen oop system

aystem und when he sdgh of the feedback signal is
k
The input-oulpit relation lor tbe above eyem is given
The trait septrol ia not OAth
sionth ani eftherent saimer
BKi efhcent i n e the
the Ira he
trafic cvmrl sytiem emphy ing not have any eff
ethe,systent is Khown s tiógatlye feedback systérn. by
d H i t y of traf The takus the form thar
the of r a l h e d e s
ERON time and
the density alacteristies

eth e t ieethod since the Mow st tafliy is cnfined to o sgecified

characterislics of negative fecdbsck are,
G
biRng of ih irahe leghts or signala he
R 1+GH
losed Loop Syatem h that the desired output i ach Negative feedback resuls in better stability in steady If GH-I, then the onitput of the sysem is infirite for
stems
the npl oi
U ed state he aceuricy n
tracking tho steady state valuec any finite input, and the system is said w be unstabie. Hence,
a 3YNtei i wheh the iitui has an eîict
n

using negative fecedback is the

is called as closed loop sy stem and helpful thari open loop systen
highest feedback can cuse a stable system to becomeusstable
mm c etlicient
o rr Negative feedback rejects pll the disturbance signals hat
is mukh
a n y s)»t?na employsng closed kaop aystems emcien ow Oailic withou Now, let us consider the systen with rwn fedbacks as
C lng the ttalti. The a n aim of the traffik control system is to mainlain
a smNh
ad

tinie bul on the méasuri

any are encountered. The changes in qutput due to external shown
hy trathe ot
t on the prescit

s
Surement disturbances are corected automatícally
in figure (2).
loop system the measu
srt of dasturbanee. Thus can be acheved the ights
changing fow but in
closeu
smavth t r a f There is a reduction in gain with negative feedback at
e aeay ar volmme of trafhe. The output is the same to achieve to a computer and then signal ngnts ure changed accor
ofthe density oftratlic is carTied out and the mformation is pussed on Ording the expense ofbetter stability.
the density of trati Hence, due to the mentioned characteristics of the
Relerene Scsa ncgative feedback, we may conclude that negative feedback is
raffic
Tratk leh
control
invariably prelerred inclosed loop systems.
Q7. Explain the necessity and effect of feedback in Figure (2
Densry of trate control systems The input-output relation for the above systm is gven by
Ans: Model PaperAW, O1(a)1AprliMay-17, Set-2, 020b))-

the densiey oftraffie.

Figure (Z: Closed Loop Traffic Control System
e Thow of vehicles wil be smoother since the closed loop system changes the signal timings aynamically according to
Efect of Feedback on Overal Gain
Consider an open loop system with open loop forward
path transfer function G{). The overall gain of this system is
GH-0F
The inner loop feedback sysuem is unstabie sinee
G(s).
LINEAR SYSTEMS
DBACK CHARACTERISTICS, TRANSFER FuNCTION
OF The overall feedback.systcm cmbe made stable by proper
Consider a closed looP System with open loop 1orwaraselection of the outerloop
path transfer function Go) and with feedback path transfer feedback gain P, Hlence, seedback
Qs Explain about feedback characteristics. (Model Paperd1, Q1(a)| AprilMay-19,Set-2,02a)) can stabilize an unstable system. The stabilitycomkdition of any
function Hs), then the overall transfer function of the system.
OR closed loop system depends on the magnitude and phase of GH
What is feedback? Why is negative feedback invariably preferred in closed loop systems ? TNs)= Hence, we can conchude that proper use of feedhack
Ans: G)H(s) can improve systems stability and it wil be harmful to system
stability if it is not applied properly
Feedback Where'+' sign is for negativefeedback system and
Feedback is ihe conrol action in which the output is compared with the reference input and an error signal is generated Sigm is I10r posiuve Ieedback System. Effecet of Feedback on TIme Constant of a Coatrel System
which is given to the input based on which he appropriate controling action can be implemented. In general there are two types For a practical control system, GandH are fmctions of Consider an open loop system with open loop forward
the magnitude
of feedbacks. They are: frequency, so may greater than
of (l+ GH) be path transfer function.
one' in one
frequency range and less than fone' in anotherrange
Positive feedback of frequency. Therefore, feedback will increase the system gain Co)
(i) Negative fecdback. in one frequency range and decrease the system gain in another G)R(G)
Wben to a unit step input, in
Any physical system in which the output has an effect on the input of the system such that the desired output is achieved
range of frequency.
be
this
system is subjected 's
Efect of Feedback on Stability
response can determined as shown below,
is called as closed loop system. The output
of the system is fedback to the input by a feedback path provided, and depending on
this feedback the input can be altered or modified to achieve the desired output. The closed loop system with feedback is asshown Here, the inpuLrt)=1 (unitstepinput), thenisLaplace
Stability refers to the stable working conditions of a transform R()= /s.
m igure control system: A system is said to be stable if its output is
bounded (finite) for any bounded (finite) input:
Relerence detector
Feedback can improve the stability of the system and C)1+sT s(l+sT)
Cotrolker Plat Output on
the other hand it can also
slable to become unstable.
system that is originally
cause a C)- :K
+STs(1+sT
oiutput is out of control. Let.
A system is unstable if its
A(1 +T)+Bs K
Focdbeck us consider the feedback system shown gure (1) with 'R as
Figure: Closed Loop Systems the imput and "C' as the
output sAT+B)+4=K

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 SYSTEMS TUNTU KAKINA INIT-1 (Mathematica Modeling of Control Syste
cONTROL ADA the
1.9
QDiscuse
1.8 orect ot feedback on nols
By comparing coefdcient on both sides
+ 1+K+Bs
T Ans
of Feedback o n Nols
Model Paper-Hll, a2t) Sensitivity, sT2Change
S, inT
%Change in P
AT+B 0 (2) Eect
Where, T is the overáll transfer functíon and P is any
.

Output of a system is
affected due to presence of noiseparameter.
By comparing constant ternis on both sides
AK () dslu
bances. husreduced.
y provdingafeedback. poise component in
can be
This can be illustrated by cons1deringThen theLetsemsitivity
us consider the variationis in forward path gain G(s)
Substinute the valueof Afrom cquation (3) in equntion (2) nstems without
one
feedback as showm in figure ()and
is given by.
(4) othcr one WIn eedpack as shown in figure (2)
%Change in
B-4T-KT S
Substitute the values of 4, B from equation (3) and %Change in G
equation (4) in equation (1),
(1)
Comparing coctlicients ofs on both sidesin equm (6)
C +sTs s+1/T Figure(1 Case
The response e() expression can be obtained by applying we get, A+B- 0 B=-A N Consider an open loop system with a transfes funetion
Go) as shown in figure().
inverse Laplace transform to Qs).
Comparing constants on both sides in equation (
R(S) C
c( K-e) ge,

From the above ctt) expression it can be concluded that

Tis the tine constant of open loop sysiem. Figure (2) Figure ()
Let S, be the sensitivíty ofthe open loop system,
Now, the feedback is introduced in the above open loop Here,
system with feedback path transfer function Hls)=a (constant) X- Input signal
as shown in figüre (3).
Y-Output signals G
(1+Ka
R(S) - EG) Cs) T N- Noise disturbance The
transfer tinctionof the open loopsystem is given by
1+ST H-Feed back. TG
B
1+RKaand 1+ Kod For the system without feedback shown in figure (1) the Differentiating equaion3) with espectfo G we ge
output is given as, dT
Substituting the values of A and B in the cquation (5) we
H-a get,
Y G,N (1)
Figure (3 Whereas for the system with feedback shown in fgure (2) Substituting equations (3) and(4) in equation(2), we get,
Cls)= +Ka) K/1+Ko)
C(s) the output is given as
C(s) Gs) K/1+sT)2 s+|Kao]

R(s) 1+ G(s)H()
+s7 s+T Y S-1
s-1
The response c)expression can be obtained byapplying Therefore, by comparing equations () and (2) it can
KIT inverse Laplace transform to C(s). concluded that, the effect of noise signal is reduced by factor
1+sT+Ka K Kar
1+G.G,H for feedback system. Thus the value of fis selected
s
uSuppose the same.open loopsystem considered above
converted to closed loop by. adding afeedback path with a
e Such that the value of ( gO,HN is greáter than one, which
C(s) K/1
cy(1+Ka) (1+Ka) in turn
improves theoutputsignal
transfer
function Hs) as shown in figure (2)
C6
R(s) -(1tKa)t a9. What do you mean by the sensitivityof the
control system and dlscuss the effect of
When the system is subjected to unit step input its
c)1+ Ka feedback on sensitE sp
response can be obajned as shown below
Ans: May/June 15, St-2, a2(b)
Here, r{)= 1, therefore its Laplace transform, c() =
1-TIl+KaN n any conrol systm, the parametors poes on vaying Figura 12)
R6) =1/s
1+Ka| and never remain constant throughout its entire life dhue to Let S, be the sensitivityof the closed loop system
From the above c(r) expression it change in the environment and other disturbances These
can be conclude
K/T
that the time constant of closed loop system
is K
variations
be studied
adversely effect the system performance. Which can
mathematicallyby defining theierm "sensitivity
S T (0)

positive value of *a' and K> 1, the time constant 77 Hence, due to parametric variations, the change ina The transfer function of the closed loop system is
Particular variable can be expressed in the term of sensitivity. Bven by,
15 smaller than 7. i.e., the time constant of closed loop systen
..

(O)is smaller than the time constant of open loqp Sys Sensitivity is defined as the ratio of percentage change .(7)
the feedback
improves the time response of the Syste
decreasing the time constant of system.
in a variable to percentage change in
any parameter T1+GH
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 cONTROL sYSTEMS (JNTU-KAKINADA
1 (Mathematcal Modeling of Control Systems) 1.11
1.10
Defkermtng cao () uih respect to ú, wr ,
A s) 5, + +
-GH)GH Figure 14)
(-GH Figure (1k Mass B Dashpor
D2shpot represents the fnction eaisung in otationai
Spring
G-GH Itis alsoan eneTgyslorgeelementand this represents the
mechancal system when a torque s applied on an ical fncuonal
element dashpo, it develops an opposing torgque which is
Sebstitute equation (8 in eqaation (6l *e ge, e deformauon of the body. When a forcé is applied on the proportional to the angular velocity ofthe body.
sless and frictionless sprng a réaction force is developed d8
LeK-a I which is proportional to the displacement of the body. T,
S GH FaX
-GH)
F= KX 2
T,-B dt
-GH G x G
G - +ajs +a
G
f0o00SF
Gs)s-p,)s+ P:).
S GH Equating he numerator
to zero we get the poles and

Suhstitutimg equaticn (S) n equtioe (9, e get, equating the denom1nalor

to zero we get the zeros. Hence. pole Spring
ofa transfer function are defined as those complex frequencie Figure (2 Spriny Element Spring represents the elastic deformation of the body.
ahich makes the transfer function towards ininity and zeme When
S. GH utich måke ransfer function zeto
3. Dasbpot is
a torque applied on a tonsional spring having negigible
momert of inertia and friction, it develops an opposing terque
r r those frequencies
Dashpot or damper dissipates energy and this clement
which is proportional to angular displacement
Hence fro the abe equsbon szy ihat tneLimitations
we can Oresents the friction existing in the'mechanical system. When a of the
body.
9TASTNETY o the cised kop sysem is re aed by a tactor I is applicable to only linear time-invariant systems force is applied on the dashpol orthe danmper elemeni areaction
-GH)aben aompared to apen loap syse force is developed by it which is propartional to the velocity of
2 It does not give any information regarding the structure te body
010 Define the transfer function in control system. of the system
May Jume-15, St-1,91j) Extemal conditions loose its importance, as initial dt
conditions are taken as zeTo.
OR Figure (6)

Define transfer function and what are its 3 DurERENTIAL EQUATIONS OF ELECTacAR F Q12. Explain about mechanlcal rotátional systems.
limitations NETWORKs, TRANsLATIONAL AND Ans:
The system in which motion of its elements occurs about
Ans: RoTATIONAL MECHANICAL SYSTEM a fixed axis is called mechanical rotaional system.
Traasfer Function a11. Explain translatory and rotary elements of
B Consider a simple mechanical rotational system as shown
The transfer fmcion is defined as the raio of Laplace mechanical systems. in figure (1). It consists of movable disc of momeni of inertia
transfom ofoatput to the Laplace trasform nder all
ofinput , dash pot (B) and spring (K). The torque of such systens
nitizl ccmditions as zT0. Ans: TTTTnnIznnmmn7I777 can be modelled into electncal systems with analogucs elements
The model of the mechanical [ystem canbe obtainedby Figure (3 Dashpot conductance, inductance and capacitanoe. Since, the mechanical

Inpun
G using three basic translatory and rotary elements,. Rotary Elements rotational includes torque, these systems are categorized into
Output The three basic rotary elements are, two types as follows:
Translatory Elements
C(s) The three translatory elements are, Moment of Inertia (0 Torque-voltage analogy
R(s)
Stores kinetic energy in rotational systems and represents n) Torque-current analogy
Consider a generalized system where input is z,() and Mass the weight ofthe mechanical rotational systems. It is denoted by
ounput ts z, Mass is an energy storage element and the The disc isattatched to the spring and dashpot on which
weigton
ranslauonal mechanical system is represented by this clemeCn
S. The opposing
torque due to moment of inertia of an 1dealthe torque is applied.
The unit of mass is kg. When a force is applied on the mass mass element is always proportional to the acceleration 'a' of
that inertia.
d17 a,9 clement a reaction force is developed by it which is always
proportional to the acceleration of the body.

Fra d
d
XA) = b_b b t. F=Ma- M*.
FTgure (1)

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1.12
cONTROL SYSTEMS (JNTU-KAKINADA NIT 1
(Mathemallcal Modeling of Contfol 3ystem)
the electrical analói Inking laplace transforni of.cquatiorn (1), we get, 1.3
The procedure adopted by T h e force acting due to mass
The extesnal torque T which acts on the disc moves by (a)
sy stem is simple. Fls)- M.xMs) B.s.Xs+KX)
+
(M)element is given
an angle (®)
angular veacity (). Thus angular motian gels
n
provides same ncgro-aterenti
Ns) AUs){ AMc +B.s +K]
* UTt ol torqur, spring and dashpot i.e. J(b) This sytemwhich convert the mechantcsl kysten
è,K8 and Bè espectively evaluntions, N)
The force actng due to
Tde system can be analyzed by drawing frec-body and
electrical system (or)
vice-versa.

Fs)Ms +Bs + damping coefficient (B ) is gven

hc solution obtained, using systems can
clecincal

the mechanial network.It is also determined by the Newton's (c) as input to analogous systeme
This the requirod
is
Iransfcr function
o n d law of notion. Which states that the sum of all individual applied dinwctly
torques acting on the sysiem is equnl to the product of moment id These analogoussystemsuses ir g eand o15. For mochanicaltrenslatlon system shown figure
oespect
criato and angular acceleration. The force equations with current laWs
as
their basie pnnciples bolow, obtaln
angular displacement (0) is given by function for the
system glvo () Differontial equatlon and
Q14. Flnd the transter () Tranefor functlon of system
In figure below.
The force acting due to spring constant
(K,) is given s.
T-J B Vx,0 According to Newion's secomd law we have,

Where,
T-T+T,+
T, IS the opposing torque due to moment of inertia T x,(0
M ,-x8-x)-0
d Figure Figure
T,is the opposingtorque due to dashpot
Where,
Mis the mass of the system.
Kls the spring deflection.
Ans:

)Differential Equation
(Model Paper-, 22(a)
|AprlMay 19, Set2, 02/b}) +-x-o
T is the opposing torque due to spring= Ke (1)
Bis the coefficient of viscous damping. The given mechanical system is shown in figure (1). The free body diagram of mass (M) element is shown
The free body diagram for the given rotational system
is shown in
Ans: in figure (3).
figure (2)
Let,
Sbe the force acting due to spring constant K ,
Sbe the force due to damping
J. be the force due to mass (M) element.
XO

Figure (2
M
The external torque (T) is acted on the inerial element of
Figure (1)
the system )which is opposed by the torque components due Let,
w dashpot and spring i.e BO and K®. The sun ofthe torques Sm be the force acting due to Mass (M) element
T-B0-K6 is equal to JO. Figure
Tm be the force acting due to Mass (M) element. The force
T - B8 - K8=J0
Force due to mass, Mi.e., acung due to mass (4 element 19 given as,
J, be the force
acting due to Damping element (B)
Q13. ExplaBn the need of electrical analog syatems. be the force acting due to Damping
element (B)
d , be the force acting due to Spring constant (K,)
Ans: Apri-11, Set-1, 02) Force due to friction, The force's acting due to damping coefficients B, and
, be the force
acting due to Spring constant (K)
In general, it is very difñcult to study the behaviour B, are
given as,
of Mechanical (or) Thermal (or) fluid systems. However, the
complexity of various systems can be easily analysed with
The free body diagram of mass (M) element is shown
in fhgure (2).
the concept of electrical analogous system. It is a very useful Force due to elastic spring,
and powerful technique employed for the study of behaviour And
of vanious analogous systems like MechanicCal, Ther+ma, fiuid =kX
systems interms of electrical systems. The electrical analogues ByNewton's second law,
systems are of two types. They are The forces acting due to spring canstants K, and K, are
Force A)=Sum of individual forces acting on the sysiem
Direct Analogy (or) Force-voltage Analogy given a
(i) Inverse Analogy (or) Force current Analogy. A0-1.++
The electrical analogous systems are employed due io
the following reasons, 10-M +8 KX Figure 12)

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 cONTROL SYSTEMS IJNTU-KAKINADAI
1,14 UNIT-1 (MalherpaicalModeing of Control Systems)
1.15
a16 For
the goared systom
According Newton's seciönd law, we have, shown below in Figure, | Step 2:
Reflecting the torqueT
ind the transfer functlon relating the
angular quivalent moment of inertia
Jfrom shafl 2 to shaf 3,ad shown in figure (3),
displacement o tothe Input torque T, where
J., , J, refer to the Inertia of the gears and
4 -x)+8, 8K,-)+KX,- corresponding shata, N, N, Nand N, rofor to
the number of teeth on each pear wheel.
On eplacing the displacements by velocity in cquation's (1) (2) and (3). governing
the mechanical
system we havye,

M - ) x,fo-a-
B)+8y,K-v)a+x,-osin daJrar NN N
Fiure (3)
The mechanical translational sysiems of figure (1) can be representod as force-voltage
and force-cument electricalanalogous
circuit in the following way, Where
Flgure
(u) Transfer Punction of System
(Model Paperl,azta)
From equation (i), we have,
Ans: Apil1.8n3, 02(D)
Given geared system is as shown in flgure (),
M -x)K,a-x)-0
On taking Laplace transfom of above equation with zero initial conditions we get, T

M, X0)+Bx-x+KJX)-X.ON=
xMM,+B +KI-X) B+K]=0
xtMM*B+KI-XO8s*K]
B,S
M+BtK Figure (1)
Also from equation (2), we have, Where,
0, is the angular displacement Step 3: Now, the opposing torque acting on J, is T as shown
4B-x)-,,a,-x)+K,4- T is the input torque
in figure (4

On taking Laplace transform of above equation with zero initial conditions we get a r e the inertia ofgears of corresponding ahafs
N, N N, and N, are the number ofteeth on each gear
MXB1X0)-X,N+B X)+Kxo)-X,()+K, X()=F() wheei.
XuNM+BB+K,+K)-X(B +K]-F) Required to determine,

Substituting X) value from equation () above cquation

we get Transfer function,
To determine the required transfer function, reflect the
toTque, moment of inertia on the input side to theoutputside
Step 1: Reflccting the torque T, and moment ofinertiaJ, from
shait I to shaft 2 as shown in figure (2) Figure (4

Where, T ) =d
Kal MBs+K|M+B +B+K+K{B+K,} -F T N
M+B+k
The required transfcr function is, N2
Step 4

M+B+K N
Applying Newton's second law to feure (4) we get
F) [M+Bs+K,||M+Bs+ B,s+ K,+Kg]-(8,+K, T,0-T0
Figure (2)
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 cONTROL SYSTEMS JNTU-KAKINADA INIT-1 (Mathematice! Modeling of Control Systems)
1,17
16
4LLLILLLiLLLD The force duc to sprimg
IK}eristaa is given as,
K
According io Neton's lrw of forces, we have,

The above quation is caled the difherential equation of the system

Step 5 Flgur
Applying Laplace transform to the differential equation, we get Ans ApriMay12, set-1, 1 Appbying Laplce trnskorm os bodh sides e ga
The given system is shown in figure (1).

MT+8,Y-B, Y+)-o
M+B+Yto-Bgo-o
J.NN+J(,N,++JXM,N,| (M+B,Y)B,4 -0)
,NN,N efree body diagram of mass(M)element is shownin
figure (3).
8(s) Let,
Im be the force acting due to mass (M) element
Ta, be the force acting doe to mass (M) element
Therefore, the transfer function of the system is,
Jh be the fonce acting due to fricion (B,) element
J be the force acting due to friction (B) element
Figura B)
T 4N-JMN+0,+JXMM, |F .be the force acting dae to spring constant k. Now,
Q17. For the mechanical system shown in figure, determine the transfer function Y,(s)/F(s). The free body diagram of mass (M) element is shown The force due o mass(M) elemeat is given as,
in igure (2).
Y,
d
The force due to friction (B,) element is given as,

igure (2)
dt
Now,
Similarly, the force due to ficion (&) element is give
The force due to mass(M) element is given as,

Now,
Figure The force due to friction (B,) element is given as,
According to Newton's second law of force, we have,
AprilMay-13, Set-2, 010

OR
Write the difterential equatsons goveming the mechanical system shown in below figure and determin
the transfer fhunction Y,oVF(O). h-- d d d

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 cONTROL SYSTEMS IJNTU-KAKINADAI UNIT-1 (Mathematical Modeling of Control Systems) 1.19
1.18
Cnse ()
Applying Laplace transform on both sides, we get,
Considering the moment of
inertia J, as shown in figure (2),
dt *d

M,Y)+B,s Y,6)-B,s Y,()+ B, Y()= F\)

[M,s+B, s+B,s1 r)-B,s Y,)= Ps)
Substituting Y,(s) value from equation (1). we get, Figuro (2
The opposing torques are given by,

M*+B, s +B,41 Y, ()-B,M3+B, s+K]

T d
BB,s)
M+B,)+ B,5] Y,5)M,s +Bs+K
= F($)

B,B
+6,+8,)3M K] Th K,(04)
According to Newton's second law the sum of the applied torque is equal to the sum of the opposing torques.
(Ms+Bs+KXM,s* +(6+B,)5)-8,525 y.() =F6)
M,s* + B,s+K
T T+T +7
M +Bs++K
F(s) (Ms+Bs+KM,s*+(B, +B,)s)-B,B,s* T F , ) -(4)
018. Find the transfer functionTfora given rotational mechanical system is as shown in belowflgure
Applying Laplace transfomm to equation (1), we get,

T)-J00)+F,,)+K(0,0)-0,0)
1, t 7)-tsF, +K]®,)-K,0,) -2)
Figure Case (i)

Ans: April/May-16, Set3, 2/b) Considering moment ofinertia J, as shown in figure (3)
Consider the following mechanical rotational system shown in fgure (1).

3
Figure131
Figure (1) The oppoSing torque are given by
In the system show, there are two nodes J, and J,

Let
J,JMomentofinertia of masses
do
FFRotational frictional coefficient
K, K, Stiness of the springs
TF d
T =Applied torque Th-K,0
, 6, Angular displacements T-K, (00)
, Angular velocities According to Newton's second law the sum of the applied torque is equalio the sum of he opposing torques.
h, T,-Opposing torques due to moment of inertia

torques due to friction

T +T +T +T -
Opposing
, Opposing torgues due to elasticity K,+K, (0-8,) =0 (3)

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1.20 cONTROL SYSTEMS (JNTU-KAKINADA INIT-1 (Mathematlcal Modelling of Control Systems)
Lel,
1.21
Applying Laplace transfom to equation (3), we get, The opposing torques are given by,
JMoment of inertia of mass
*0,)+F0,0)+K, 0,()+ K, (00)-e,0)-0 T- -9
, k, Stiffnes of the spring
+FAK, +KJ ®,0)-K0,0)-0
K,90)-0,0) J +sF, +K, +KI T0-Appliedtorque T0-9)
e,, 0,0) Angular displacements
0,6) 0,6) J+sF+K+K:]
K , )=Opposing torque due to moment of
inertia
Substituting ,(s) value in equation (2), we get, Opposing torques due to friction
From Newton's second law,

T)-,+sF,+K,10,6)-K,0,0) TTOpposing torques due to elasticity

The differential equations of the
T,TTT-0
system are obtained by
]4+s +K+K]
92() K B2(s) orque balance equations at node node "1'and node *2'. TThere is no applied torque
Case (): Considering the node (1) as shown in figure (2).
-e)+K,0,-8)+84
Applying Laplace trinsfom to above.cquation, we ge
+s5+ K)s ts+K+K)-K6,( Writing the equation of motion at point 'A
- Figure (2)
The opposing torques are given by, s[0,-e,0+ 1[80)-6,0)+0,)+0(0-0
To)
+s+K)*4+ sF+ Ki*K)-K 2+180-69800-0
The transfer function of the system is, (41)9,0-20 +)8,0
K
,G02
dt 00-20 2
T A+sk+ Ki)J+ SF+K+ K)-K Now, substituring equation (1) in equation (2), we get,
T-0- 28)Z9*G+ne,
Q19. For the system shown in figure, find the transfer function G(S)= According to Newton's second law the sum of the applied
Rad, K, 1 Nm/rad, B, =1 Nm/rad/sec, B,=1 Nmirad/sec.
Consider J, = 1 kgm.K,=1Nm torque is equal to the sum of the opposing torques.
20.6-1)9,)
T
T T,+1*4
T(

T- - 2 0-T
B
Applying laplace transform to above equation, we get,
Writing the equation of motion at mass J=1Kg-m,
2+2+2 0 s+s+1
T) s0,0)+s10,0)-6,+11e,)-e40)
Figure
S*
Ans: T6) =(G+s+ 1) 9,0)-( +1)8,0)
Nov.-20, Set-1,026)
Given mechanical system is shown in figure (1). 8,) 1
s + 1) 0,) 7) +(6+10,(0) T) 2 +s+1
8,() 4*(+1)0,() The transfer function of the system is,
T) (1)
+st1
Case (i): Considering node (2) as point 4' as shown in figure (3). T) 2+s+
020. Derlve the transfer function
TS for the given
T T, rotational mechanical system shown in below
Figure (1)
Figure (31 figure
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22 cONTROL SYSTEMS IJNTU-KAKINADAI UNIT-1 (Mathematical Modeling of Control Systems)
123
Case(2)
K Considering the monent of inertia as showm in figure (3)

T, e, T T Tk T T
Ans: ApriUMay-16, Sot4, aztb)
Given roational mechanical system is shown in figure (1).

Agure (3)

Figure (1) TKa ( . Th B2 0)

n the system shown, there two nodes and
are J J, According to Newton's second law,
Let,

JJ-Moment of inertia of masses

TA7T+-0
K, K K,-Saffness of the springs +KK -)+ B de,-0)-0
B,B B-Rotational frictional co-eficient
T-Appliedtorque
.-Angular displacement
T T-Opposingtorques due to moment ofinertia
Tx Tx T-Opposing torques due to elasticity
friction. Applying Laplace transform to above equation, we get
Ta Te-Opposing torquesdue to

Case (1)
Considering the moment of inertia J, as shown in figure 2).
)+B r)+0OK*K)+B2 s)Ke,-B - o
T2 To TK2 TK3 Tby2 e, s(B +B)+K+K]-()K+sB]-0

Figure(2)
8,0FJ+sB+B+K+K1
Substituting equation (2) in equation (1), we get,
(2)

(KtsB8,0
TI)-hts(B+B)+K**3]92)A+s+B+K+K
TK 0-8), hBd ( -
According to Newton's sccond law,
+s(B, +B+K\ +Kz
Hence, the transfer function is,
T Th+T+T +T+Ta
+K-6,)+ K 02 +B d 6) (+s(B+B)+KtK)
T)
(+sBtBp)+K+K»)(3 J+ s08+B)tkKKsB
021. Determine the transferfunction of the olectricalnetwork ahown below
KK, +K e
T- ), ,- d
Applying Laplace transform to above equation, we get, V

)-Je+B,
s00)+K+K)0,0)+8,,0)-K,9,0)-B, 0
7e)-+B,+B)K,+K]9)-(K,t)9,)
Figure
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 cONTROL SYSTEMS JNTU-KAKINADA
1.24 UNIT-1 (MathematicalModeling of Control Systems) 1.25
equation (3), we
Ans: (Model Paperd, 02{d) I ApriVMay.19, Set-1, Q2(e)) Substituting the values of 7s) in
get,
Given that, D.C servomoior is essentially an ordinary DC
motor
exceptwith very few variatons in its constructional features. It
E) gives quick response to control signals and possess low inertia
and high starting torque.
The two different modes in which the D.C motor can be
operated are,
V) Figure 12)
1. Field control mode .

By applying KVL, we get,

2Armatirecontrol mode
Transfer Functios of the Fleld Coatrolled D.c Servomotor
) E0)=R,0)+ZI() 2)
n thefield contol mode ofD.C servomotor, the speed
Figure (1) But we have, of the motor is changed by changing the fax of the motor and
The network Now, substituting the values Z,
of and
z, in equation(4) in this mode the armafure,vottage is kept fuxed
of figure (1) is now represented in it Laplace E ) = ZI()
transfer as shown in figure (2). we ge, For deriving the transfer function of the field controlled
V) R,+sL2 D.C servomotor, the
folowing assumptions are made
MM v()SL+R,+sl2 Only the field circuit of the electrical system is
R,+ sl Substituting the value of Is) in equation (2), we get, considered

(i) The armáture voltage is essumed to be constaint

R+iL(RtsL)
sR,+(R,+ sL)(R, +sL, Consider a field controlled D,C servomotor with, e,as
the input votageapplied to the field and Rand L,are its field
Transfer function, resistance and field inductance repectively,i,is the feld curent
and the fux of D.Cservomator is varied bý varying the field
V,) (RtsL)R+sL,) current as the fux andre directly proportional to cach
Figure 12 sR,,+ R,R,t sR,L, +sR2+sL other. This current producesa fuz and the torque producedd
by this fiux is T and B are movement of inertia of the
The total impedance for the parallel combination of Q22. Find the transfer function for the electrical net motor and coefficientof fricton respectively. ® is the angular
R, and sL, iven by, work shown in
figure. El) 3)
displacement of the motot.
sly
Z, R+s . (1)
E R W
Substituting the valueof'from equation (1)inequation (3)
The total impedance of series combination, E,S)
We g e ,

The network shown in figure (2) can be redrawn as,

Figure E,0)Rtz Oupu

Ans:
Nov.-20, Set-1, 02(0)
Figure (1hFleldCentrell D.CServmetor
E)
Given nefwork is shown in
figure (1) R+R SC Applying Kirchhoff's law for the field circuit of the
servomotor, we get
w- function,o RSC+I
Transfer function, E,) (R+RSC*1
Fiure 13) E(0 Es)
Applying Laplace transfopm to the above equation, we
(s) 14 TRANSFER FuNCTION or D.C
By applying KVL, we get,
SERVOMOTOR AC SERVOMOTOR e
Figure (1)
Vo)-Z,0)+2,6) () The total
impedance for series
SYNCHRO TRANSMITTER AND RECIEVER Ea-RA)+s4)
combination for an Q23. Obtain the transfer function of a feld controlled E-LR+
But we have,
given by, D.C servo motor.
Aprl/May-12,4 Model PaperM,01to)| (2)
Vo)-2,6)
Z-RSC OR
The telationship between the torque developed by the
The network shown in
figure (1) is redrawn as Explain the procedure for deriving the tranafer motor T. and thefeld curent (is given by
figure (2). show function and derlve the transfer function for
servo.

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 cONTROL SYSTEMS IJNTU-KAKINAD UNIT-1 (Mathematical Modeling of Conitrof Systems) 1.27
to the field
currént alone. Substituting these values in the equation (9), the tcansfer
proportional
Since the armaturo current is
kept constant, so the torque is directly function of the motOr becomes,

TK (10)
Where A, represents motor torque constant
Applying Laplace transform to the above equation, we get
E,) 1+TX1
fr Coristatt
Block diagam of the field controled D.C servomotor
T_-K) For the moment ot nertia./, andcoeffiejn can be represented as shown inthe following figure (2)
Cutput
he rotating part and load connected constitutes the mechanical system of motor.
of friction B, lorque E/)
applied by the motor is given by,
16 Fiqure Armsture Cestrolied DC Servemoter
ES) 0)
Applying 1Laplace transform to the above cquation, we ge, Applying Kirchboff's law foç the amature circuit of the
servomotot, we get,
T 0)+Bs6,() Flgure (2: Block Disgram Representation
T0)0()V+Bs] a24. Describe the transfer function of amature (1)
T) P s +) 7) controlled D.C Servo motor.
Applying Laplace transíorm to the above equation we
Equating equations (5) and (7), we get April48, Set3, 02a)
OR
KAJe)snus+B Derlve the transfer functlon of armature E)-R,0+l,1)-849
(8) controlled D.C servo motor
E9)-19Rs+E)
ApriMay-17, Set2b
Substitute the value of1,() from equation (2) into equation (8), OR
Derive the transfer function and develop the E.)-E,)
E o J+B0.0) (2)
(R+sl) blockdlagram of armature controlled D.Cservo
motor. The relationship betwen the torque developed by the
E)- (R+sl, ,(s) (MaylJune-15, Set1,020)1Mayun 15,Set4, 2p) motor and the amature curréat i, is given by

OR
stR +sL,XJ*0_0 Obtain the transfer function of an armature
T. . (3)

E) TKi
Kr. voltage cotrolled D.Cervo.motor.
Ans: AprliMay-13,set4,c2)1Aprtiay-12, Set,2 Where, TEpresentS motortorgue constat
The transfer function of the system is given by
Transfer Function of the Armsture Controlled D.C ApplyingLaplace transfomto theabovecquetion, we get
Servomotor T0)-K,L)
K
In armature control modé ofD.C servomotor, the speed
E,() sR+sL,NJs+B) of the motor is changed by rotating partand the load comected to the motor
The the
changing the'armarureis voltiage oconstitutes
the motor and in this mode the field of the motor
mechanical system of the motor For the moment
kept xerof inertia and
and hence field voltage is
J, coefficient of friction B, the torque applied by
(9) constan the motor is given by.
E,(s) For deriving the trans fer function of the armature
controlled D.C servomotor the following assumptions are made: (6)
K Only the amature circuit ofthe electrical system is taken
be represented by gain constant ofthe motor K, ie, K
R into account, Applying Laplace bransforn to the above equation, we get,

2. The field voltage is assumed to be constant. T0-0,)+B60)

Letbe represented bysime constant of field 7,i.e., Consider an armature controlled D.C servomotor with (7)
K as the input voltage appliedtothe armature and R. and , are
ts armature resistance and armature inductance respectively Equating equstiags (5) and 7) we get
Is the armature current. Since the field current is kept constant
T the motor output is govemed by armature voltage v, The torque
developed by the motöris T J and B are the moment ofinertia
KL=)V+B
of the motor and coefficient of friction respectively. 6 is the
be represented by mechanical time constant 7 i.e, T (8)
angular displacement ofthe motor.

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 cONTROL SYSTEMS IJNTU-KAKINADAI UNIT-1 (Mathematical Modellng of Control Systems)
1.28 1.29
Fued The transfer functia0 of A.C servomotor is
The relathon between back e.m.f given
e, and the angula mochanical time constant? voMge
dusplacement of the motor is given by. be represented by
Lel
y. )
e,
de >Reference
dt Varube woding
Ves) U+Bs+ms
d8 9) Substituting these valucs
in the cquntion (12), the transfer cotroi

dt the motor is given as, volnge

function of
Wbere, K, represents back e.m.f constant. ,/R,B Ve)J *s(B+ma)
Applying the Laplace transform to the above cquation, E,S +sT,X1+s1,R,B Cotrol windng
Wegget,

E,(o)sK, 8.0) (10) Block Diagram

Figure (1: A.c Servomotor Representstion m B+m,)
Equating cquation (2) and equation (8) we gel, The block diagram of the armature controlled D,C Speed-Torque Characterlstics of A.CServomotor
servomotor can be represented as shown in figure bclow,
For answer refer Unit-1, Q27. m,(B+m,) -(4)
E(s)-E,). U,S+55 (s) Ves)1+ J
R+s K R,0ST
sB(Ts+1
Transfer Function of A.C Servomotor

Let m, be the slope of the characteristics of torque and

B+m)
E,)
xE,)-E,0-80)-
(R.+s)J
B1] .(11)
K,
control voltage and m, be the slope of the characteristics of
torque and speed.
Le B+m) term be represented by gain constani of

motor k
Figure From the characteristics shown in figure (2) and (3), the
Substitute the value of E0) from equation (10) in
torque , of the motor is written as,
cquation (11), Q25. Derive an expression for the transfer function
Let(B+mem be represénted by time constant of
of an A.C servo motor. AprilMay-19, Set3, 22a) Tm,Ve-m,o motor
-m, since the slope of the speed torque curves. is
(R.+s OR Therefore, by substituting these values in the equanion
negative.
Explain the working ofA.C servo motor and find 4 , the transfer function of the A.C servomotor is given as,
R) )K)-E its transfer function. As E
dt
April/May-17, Set-1, 026)
R,+,J+Bo) 8,G)+K, A,55-G) -E) OR
(1)
Vsl+sT.]
Write the transfer function of A.C servo motor.
Q26. Draw the torque-speed characteristics of A.C
(AprivMay-17, Set4, Q1a) | Model Paper-i, a16) Applying Laplace transfom to the above equation, we get,
e.&u+R)-K,k2-E
K. OR (2)
servomotor and explain how it differs from
nomal inductlon motor.
Ans:
The transfer function of the system is given by 8,() Describe the A.C servo motor and draw its The rotating part of the motor and load connecied to UneSpeed- Torque Characteristies ofAC Servomotor
E,() torque vs speed characteristics.re motor constitutes the mechanical system of the motor. With
The starting torque of the motor is proportianal to the
Ans: AprilMay-16, Set-3, a2) moment of inertia J and coeficient of friction B, the torque
control voltage Vapplied to the controlwinding, therefore, the
applied to the motor is given by,
E,()(R, +s,NJ+Bs)+K,K A.C is essentially a two phase
servomotor
induction speed of the servomotor can be varied by varying the controi
motor except with variation in the constructional
the rotor which is of drag cup type: It possess low
features o voltage. With respect to the control voltages applied the torque
) inertia and d? dt ofthe motor vares as shown in figure (1).
good accelerating characteristics and hence mostly prefered
E.(s) for low power applications. Applying Laplace transform to the cquation, we get,
A.C servomotor is shown in figure (1), It has
windings i.e.control and reference winding. The controlvoltage
two T)J0)+Br0,) Targuec
K,IRB . (12)
Visgivenas input voltage to the control winding through the
E.(s) To)=00)V+B]
ampliher. benxed volage i s given to the reference winding
The phasediference between the fixed voltage and the control Equating cquations (2) and G, we get
voltage is 90. Ihe torque T. is developed because ofthe control m, PAo)-m 0 ) = 8 . ) U S + Br]
be represented by time constant of amature T Contro! votage
voltage. and are the moment of inertia of the motor and
coeficient of fiction respectiyely. The output 0, is the angular
displacement of the motor and o. is the corresponding angulu
m, Po)-)U+Bs]+ m, o0) ww w,>w>w>w
ieT velocity m, Vs)-0OU+Bs+ms) Fiqure (1)

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 cONTROL SYSTEMS IJNTU-KAKINADA UNIT-1 (Mathematical Modeling of Control Systems)
1.30 em 1.31
conri voage, nd tor
O27. Compare different characteristics of A.C servo motor and D.C
servo motor.
rm ne ngure(1), it can be seen that the torque characteristics
arc incar near zero
values of the
ApriMay-19, 8e, 2atb)
vollage crosses
decreases as the control OR
t o e values the torque characteristics are non-linear. The value of the tonque
charncleristics
ne otor Can be oI
difference
and the motor comes to a bault Therefore, for the values of control voltages the specd-torque What is the betwoen A,C servo motor and D.C servo motor?
plotted as shown in figure (2).
ror e speeds ncar zero values the torque varies linearly and as the specd increases the torque-specu Charaetenistus oegome Maylin 1 s , Q1h)

specd torque characteristics

Ihe are stretched with the dashed lines to achieve lincar apprOximalon Ior
deriving the Ans
nOn-near.
transfer function of the A.C servomotor.
A.CSeryomotor D.C Servomotor
A.C
1.
servomotors are best suited for low power D.C servomotors are generally used for lage
applications and has a power output of about power applications and delivers high power
W to100 w Output:
Torque 2,%
The efficiency of these moiors is very less ie, The efficiency ofthese motors is high
5 to 20%.

3. It has less maintenance as the commutators are Due to the

presenceofcommutator frequent
not present mamtenance is required
Radio
4.
frequency.noise is not produced Radio frequency noise is produced due to
Speed w ,
brushes
Figure (2): Speed-Torque Characteristics The operation of this servomotor is relatively The operation of these servomotor is noisy.
Differences between A.C Servomotor and Induction Motpr stableandsmooth
A.C Servomotor
Induction Motor o. A.C amplifers used in these motors have no 0. Ampliier used in motors haye a drift.

. The rotor is drag cup rotor in construction. 1.The rotor is either squirrel cage or phase wound drift
rotor in construction.
Stability problems are lesss Stability problems are more
The rotor winding of an induction motor has high
The rotor winding of an A.C servomotor has high inductive reactance compared to resistance,
Q28. Explain the working of a synchro transmitter receiver pair. April-10, Sot4 02(b)TModel Paperl, 1Mb)
resistance compared to its inductive reactance, OR
therefore ratio is high.
Explain the construction and principle of operation syncro transmiter.
therefore ratio is very less.
R
AprUMay17, Sel1, 2)1Myune-16,8et4,2t)
Due to which the torque speed characteristics of an 3. Due to which torque speedcharacteristics ofan OR

A.C servomotor is fairly linear as shown in figure. induction motor is highly non-linear shown Explain the construction ánd operating principle of synchro transmitter with neatdiagrams
Apriay-14, Set4 02)
in figure. OR
Explain the worklng ofasynchro trainsmitter and recelver
Ans: AprliMay-13,se, 2a)
ratio
highratio
T A synchro is an electromagnetic devioe or transducer, which converis the angular position of the shaft into electric signal.
Torque ratio Torque Synchro consists of synchro transmittef and synchro receiver.
Synchro Transmitter and Recelver
The
synchro transmitter and receiver form a synchro pair. Asynchro transmitter ia a unit wherethe mechanical inputof
NS
the rotor is econverted into an electrical signal in the stator. Asymchro receiver is a unit where the electrical input of the stator is
Speed, N Specd, N converted into angular displacementin the rotor.Itisalso referred as controltransformer np
Construction of Synchro Transmitter and Receiver
Figure Flgure
Both the synchro transmitter and receiver consists of stator and rotor. They are very similar n their construction, only
It has a negajve slope throughout which makes It has a positive slope which makes theste the difference being that the rotorof the synchro receiver (or) synchro control transformer is of cylindrical type. The stator is a

the system stable unstable. Stationary part of synchro and it is composed of laminated steel To.achieve balanced 3- winding, the stator part is sloted and
The
the
windings of this stator are connected in star The structure of these windings are concentric coil type structure. The basic
. The volages applied to the stator windings are voltages applied to stator windings are Constructional features of synchro transmitter and receiver are shqwn in figure (a) (The construction of synchro transmitter
not balanced. balanced. resembles the construction of 3-0 altemator).

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 cONTROL SYSTEMS IJNTU-KAKINADA INIT-1 (Mathematilcal Modeling óf Control Systems) 1.33
1.32
Equating equation (2)md equation (5), we get,
the air The time varying fMux acting along the rotor co
S gap.

develops a notor magnetic field and as

a result of thís transforme KO0)-M=Mo)+ m)
induced in all the stator windngs basedon KOG)-RM)- Jo) +B)
Stator windmgs nction voltages get

the angular position

of stator axis with respect
to the rotor KO)-JMo)+Br)+ KMo
Now the thnee inducod
e.m.f's serves as input to the stator KO)U +Bs+K]
transformer. The operation of synchro
AC
Rot
of the syncho control
receiver is same as that of synchro transmitter,
The mechanica
K G(s) +K]

the shaft of the rotor is the desired

Rotor angular displacement of
whdings output. A voltage signal
is generated in the rotor in response to e)Jst Br+K
the e.m.f's applicd to the stator and with respect fo the present
The above equation represents the transfer function of synchro.
Hence, this e.m.f produced
runs the motor
state of the rotor. a29. Explaln the synchro error detoctor with cireuit dlagram.
Figure ta: Synchre Transoitter
Transfer Function Ans AprUMay19, St4, 02)

of.rotation of the transmitter from

syachro Transmitter and Recelver ás Error Detector
Let, 0 Angle The synchro transmitferaAnd receiverombinedly acts in a pair amd functions as error detector, The figure shows the synchro
clectrical zero position. transmitter connected to the synchro receiver directly through the windings
Stator wndngs
YAngle of rotation of the receiver from electrical Synchro Syuchro control
ualsinhiG transtommer
zero position.
>Rotor
Then, the torque produced by the synchro control
Rotor - Opvoage
winding transformer is given by,

T(0=KTO)-YO )

Taking the Laplace transform of the above equation

T() KTOG)-e))
Fiqure hSynchre Recaiver Where k represents sensitivity of synchro eror
detector
The rotor is a rotating part of synchro. In order to Flgure: Errer.Datector
Let &6)= 8(s)-y(s)
maintain the uniform air gap it is designed cylindrical for The input is the angular position of the rotor given to the transmitter and the output of the transmitter is given as input to
synchro receiver. For synchro transmitter, the rotor has a Where os) is the angular. displacement between two
the synchro control transformer When the rotor positions of both tränsfitter and receiver are such that they perfectly align with
dumbbeil shepe. Tbe rotor is wounded with many turns on it. At each other, then the rotor of control transformer induces zero voltage and such position is referred as electrical zero position. In
rotors clectrical zero position, the angular displacementbetween the rotors is 90
the end of these turns the output or input terminals are connected
with the help of brushes which rests on slip rings as shown in When the input voltage is given tó the rotor of transmitter, thén itgets excited and the circulatory, or magnetizing crents
T K]8G) are generated. These
currents have diferet magnitude but same phase. Because oftheflow of magietizingciurents inthe stator
figure (a). an identical fux paterm is direczion
If Jrepresents moment of inertia and
B represents
windings of bothsynchro transmitterandyeceivet,
is same as that of the rotor synchro ransmitter.
in the
established synchro receiver whose
Operstdon of Synchro Transmitter and Receiver
coefñicient of friction of the synchro control transformer,then 15 BiocK DAGRAM AtaEB BYSIGNAL FLOWGSR
similar way as that
The synchro transmiter
functionsit a

coil behaves as
the torque applied on the shaft of the receiver is given by, UsiNGMAsON s GAN FORMULA
ofsingle phase transformer and here the rotor
a30. What are the Important rules of the block diagram.reductlon techniques.
primary winding and the three stator coils behaves as secondary.
AprinMay-17, Set4,1a)
d OR
When an A.C volage issuppliedas an input to the rotor Explain the propertiesof block diagrams.
of the transmitter, then it results in the flow of magnetizing Taking the Laplace of the above equation, we ge Ans:
current in the rotor. This magnetizing currenl generates a time
T)JsMs) + Bsy(s) The rules of block diagram reduction are shown in the following table.
varying fux and it varies
sinusoidally and gets distributed in
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.34
cONTROL sYSTEMS JNTU-KAKINADA UNIT-1 (Mathematical Modeling of Control Systems)
1.35
Rue Re daced hock t ram 9
Actud Rbch Dignm Splatma te sinag

Condinng the blxdts KGG

n
0
M
M
2. Comenn pa mlel
bkcks or cemmny G
10 Elmiting
feet forward pahs
0,d K0,0,) feed oc bop

-K+KG,
3. Intec hmgng K(G+0)
a31. What are the difMerences between block diagram reduction and signal low graph reduction?
SUmNNEpois
Ans:
Differencea between block diagram reduction and signal flow graph reduction are as folows.

K+L-M K- Block Diagram Reduefion Signal Flow Graph Reductloo

1. Primaryimportanceis given to the elements and Primary importance is grven to the variables
K-M+L
M their transfer function present in the sysiem.
=K+L-M Each unit in the system is represented by a block. Each unit is represented by a line seyragnt.
4 Movmg the ranh
3. The summingg pomts and the take-off points are The summing points and the take-off points have
pont efore the bhck >G >KG KG
separately represented same Tepreseation.
4, Transfer function cannot be solved easily: Using Mason's gain formula the transfer functicn
>KG can be easily solved.
KG 5. Selfloop conceptdoesnot exist In signal fow graph there is a possbility that self
G
6. The block reduction for large systems is quite
loopng exIsts
KG complicated and highly time consuming.
Is
representation is the simple procedure to obteio
5. Mowng the branch point the transfer function using Mason's gain fommla
G
ahead d te bbck
G requiring step by step procedure of drawing directly and time consumplion is less as hee is no
blocks after each and every reduction kogic applied. epetitive procedure of drawing the signal fow
graph repeatedly for calculating the resultaat
transfer function
KGGK Ttis applicable to linear
7. | It is applicable lineartime
to invariant systems only. 7.| time-invariat systems.
6. Moving 1he sumnins LG
point ahead ofhe G Q32. Explain the need of signal flow graph representation for any system.
bck
Ans:
GKG here are two ways of representimg any system,
(a) Block diagram representation
KG+LG
(K+LJG (b) Signal fow gruph representation.
In signal flow graph representation,theset of linenralgebraic equations describing the sysiem are representedby agrnphica
method. In other words, the graphical representation of the variables of a set of tineur algebraic oquations representing the sysiem
7.
Mavng the suinng G
pPmt betdre the bleck is called signal flow graph representation.

KG+L The need for signal flow gruph representation for any system is illustrated below
GKG G In signal flow graph representation, the transfer function of the system is obtaiaed directly by using
Mason's gain formula
where various rules to be followed to obtain the transfer
so in the case with block diagram representation
are
KGt whichis not
function and it also encounters a number of steps
the signal fiow graph ofthe system need not be drawn
2. The computation process is very simple and less time consuming as
where the block diagram has to be drawn after every
8. Combnng the agnin and again as in the case of block diagram reduction technique
surnmng ponts KL-M K KtL-M step.
the Mason's gain formula to
complicated system or graph can be handled in a simple and systematic way by using
Any
find the transfer function
instead there are fcedback loops.
graph representation of any system does not contain any feedback path
M 4
The signal flowtransfer function of the system can be found out from the signal
fow graph easily.
The complete

STUDENTS
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 cONTROL sYSTEMS (JNTU-KAKINADAL INIT-1 (Mathemeticel Modeling öf Control Systoms)
UN &37
Q33 State and explain the Mason's gain formula (AprilMay-16, set-1, 01()| Mayl 'vune:18,set-1, 02 Siep- a35. For the biock
diagram
of the systen shown,
Combining Parallel blocks, determine the transfer function using the block
OR diagram reduction technique.
(Model Paper4V, Q1(b} | April-11, Set-2 020
State and explain Mason's gain formula.
OR
State and xplain Mason's pain fomula for the slgnal flow graph. Write Its Imporanco

Ans
Mason's Gain Fermula
De Mason s gain formula is used to determine the trans fer function of the system from the signal tlow graph of the system
Figure (2)

A S LAplace Transfoem of input signal and Cls)ifLaplace Transfom of output signal, then transfer function of systen, Step- Flgure
Eliminating the feedback path,
Ans Model Paper4, aCb)I Aprtey-19, set, Capb)
Cs) *****o-i... The given block diagram is shown below
n)R
GH - .

Where,

To)-Transfer function Figure (3)

of the system Step-3
P Forward path gain of K* forward path
Combining series blocks, Moving branch point aheád of block a showa
n Number offorward path.
A1 Sum ofindividual loop gains) [Sumof products of gains of all possible combinations oftwo non- above
gains ofall touching G GGG4*G)
touching loops]-[Sum of products of possible combinations of three-non- loops
4Same as 'A" and considering only non-touching part of signal flow graph of K forward path.
Need for Mason's Gain Formula
I. By using Mason's gain formula, we can directly find the overall transfer function of the system from the signal fow graph.
I gives the transfer function directly in a short and simple way instad of using the block diagram reduction
technique
- ******************

Figure 4
*** *** *****

T
which is a very iengthy procedure of reducing the block diagram step by step.
Step-4
i gives the transfer function of both complex as well as simple systems.
Eliminating the feedback path and combining series
This method is very time saving and simple
blocks, Figare 2)
For its applicability,it is essentialto draw asignalfow graph ofthegiven system. Combining two set of series blocks as,
Using block diagram reduction technique finds the transfer function for the system shown in below G GG+G+G) Fust one,
figure 1+GH
14GGH(G+G+G 2000
1+ 1+GH sis +5)
Second,
GGG (GG4+G)
1+GH+GGH (G tG4tG)
Figure R-
G,GGs (G*G,+G Now the modified block diagrams
Ans (AprlUMay-16, Set1, a2(b) | Model Paper-v, a2 1+GH +G, GaH2 (0, +G4+G)
Given that,

Figure (5) 2000

+5)
*****************| Transferfunction
E GG G(G+G+G)
Figure (1) I+GH+GGH, (G +Ga+G) Figure(3) a cit

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1.40 cONTROL SYSTEMS (JNTU-KAKINADA NIT-1 (Mathematical Modeling of Control Systeme)
Veriticatiou Using Sgasl Flow Grap Now, according to Mason's gain formula, the transfer function in given as,
The sugnal o w eraph for the block diugram represented infigure ( ) wil be as showm in ngure t

R(s)
P, 4,+P P 2andk2
1+G0,6,6,4,+a, G,G,G0)*G1+,9,4,+G,6,4,+G4)
G+G,HGGH+GH
Ferward Patd Gains
gure 17
(1+GG+g,0,4,+G,H(+GGM G,G,H,+G,4)
By Dspectung the signal fiow graph, it is clear that there are two forward paths. 1+GGG,G4,+G,4)
Hence verifled.
Ferwerd Peth- a37. The signal flowgraph for a system Is shown; obtain the traneser functon using Mamon's galn fomnuls,

Ferwerd Path-2
Now, the forward path gains are given as.
P-(UXING) G)IG) (1))-6,G,, Figure
P (1XG) ()-G, Ans
Mod Pepee020)1Apry-19, Set-
ladividual Leep Gains Given signal fow
On inspection, it is clear
graph is shown in figure
that, there are three individual loops

Loop -
Loop- Loop IlII
Now, the individual ioop gains are gven as,

P (G)(G) (#))--G,G,H Forward Path Gains

PaG)G)H)=-G,6, H, There are two forward paths in the above signal flow graph ie, n =2
P(G)(H,) (H)-6,H Let the forwad path gains be P, and P, respectively.
Non-Touching Loop Gains
There are no such loop combinations (i.e, combiriations of ether two (or) three Forard Path-1
Calculation of A and A4,
non-touching loops is not possible). R
We lknow that,

Ai-(sum of individual loop gains) +(sum of gain products of all possible combinations
loops)- (sum of gain products of all possible combinations of three non-touching loops)of two non-touching
Forard Path-2
R(6) N
1-P,+P,+P
1--6,G,H-G,6,H-g,H)
I+G,GH+G,G,H,*G,H,
A1--G,G,H-0,G,-G,4 Gain
offorward path-1, PG,0,0,
1+6,0,H,+G,6,",*6,H, Gain
offorward path-2,P G6,6,,
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 1:42 cONTROL SYSTEMS IJNTU-KAKINADAI UNIT-1 (MathematlcalModelling of Control Systeme)
Iadvdual Loop Galns The part of the graph non-touching forward path-I as
shown
There are four individunl loops. A,1-G
Let the individual loop gains be L, L, and
L L
Loop-1
H,
There is no part of the graph which is non-touching forward path-2.
N G, N , N A1
Transfer Functlon
Loop-2
According to Mason' gain fomula, we have,

Transfer function, 2R) (P4 PA

Leop3 (G0,0,0)-6,)*G6,G,0
1-60.G,0,-6,0 ,GG,G+G,G,4,,+0,6G
a38. Obtain overall transfer function C(s)/R(o).of the system shown in fiouro usingblock disgram redueton
technique., Draw the signal flow graph for the same system and vertiy the resut úsing Meson's gain
formula.
Leep
C

Loop gainof individual loop-1, L, G, G, H, Figure

Loop gain ofindividual loop-2,L,6,G, Ans: Aprit:18 Sr 12
Loop gain ofindividual loop-3. L, G, G The given block diagram is shown inigure (1)
Loop gain ofindividual loop-4, L,G,
Two Nen-touehiag Loop Combination

and Pe
There are three çombinations of wo non-touching loops. Let the gain products of two

Gain product
offirst combination
oftwo non-touching loops, e t
non-touching loops be P P
--y
P-L4-(GG4)G)-66,6H
Gain product of second combination of two non-iouching loops, Figure (1)
Shifting the branch point before G,block, the block diagram will modify as shown in fieure (2
Gain product of third combination of two non-touching loops,

Pe-,4-G)(G)-GG
Caleulation of A and 4
We have
A-1-(sum ofindividualloop gain) + (sum of gain oftwo non-touching loops)
Figure 12
A-I-,++L,+L)+P+P) From figure (2), it is clear that, H Care in series

the block dingram will modify as n

and climinating the feedback loop figure (2).

in
Hence, cascading the blocks
a1-00cg-c0-G+0,G8+0,,04+690, figure (3).
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Now
Eliminating the fecdback path-3 frm
figure (6) we have,
i,G,
Feedback path-3 1+GG,-G,G4 1+GGGG%
Figure 13) GGG,G, GG,-G,GH)+G06,
0,0,M-0,0,4 +G,G,H 6,,
Feedback path:? G GG+G,0,H
6,H,G 1G,,H 6,G,G,G, G0,HGGGG,
Therefore, the block diagram in figure (6) will be modified as shown in
Ayan moving the branch point before the biock 1+G,G,H, , the block diagram will modify as shown in figure (4) fgure (7).

R() GG,(1+0,G,H) G,6Co

Feedback
path-2 1+0,04-a,o.4,+G,G,H,*G,0,G,G,H,H; 1G,0,H,
Figure (7)
Now, cascading the blocks in figure (7, we have

R(S GG,1+G,G,H) G, G
(1+0,G,4,G,6,H, G,0, H,+ G,G,0,0, H,HJ(1+0,0,H,
Figure (4)
Figure (810)
Eiminating the positive feedback path-2,
Feedback path-2= - G Ro) GG,G,6
G, 1+G0,H,+G0,6,6, H,H, +G,0,4,-G,H
1-61-6,6, 1+6,G,H Figure (8160
Therefore, the transfer function for given block diagram is
G G1+G,G,H)_
+G0 H-GGHI+G,G,4,-6,6G4 C) GG,G,G,
(1+G,G H) R(s) +GG,4+GG6,G, 4,,+G(0, H-6, H
Thus, block diagram in figure (4), will be modiied as shown in figure (5).
Q39. For the signal low graph shown in Mgure, obtain the overall gain C/R.
Cascade
* * * Cascade
G,1+GG.H
1+G,G,H,-G,6,H R C(ol

**-***-****-***--.

-H,

Figure (5 Flgure
Now, cascading are the series blocks in figure (5), the block diagram will be reduced (or) modified as shown in figure (6) Ans: ApriMay3, Se-2, 02:)
Given signal flow graph is shown in figure.

R(S) GG,+G,G.H)
1+0,6,H,-G,G,H G,OC
1+0,6,H,|

Feedback path-3
Figure (8) Flgure
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 INIT-1 (Mathematicaf Modeling of Control Systems)
1.46 cONTROL sYSTEMS JNTU-KAKINADAJ
Loop4
Forward Path Gains
There four forward paths in the signal flow
are
graph (ie,)n 4
Let the forward
path gains
be P, P,P, and P
Forward Path-1

Forward Path-2
Loop-5

GGG C(
Forward Path

R CS) Loop-6
Forward Path4

RS 2 CS)
Gain of forward path-1,Pi=G, G. G, G, G, and G
Gain offorward path-2, P, GG, G, G
Gain
offorward path-3, P, =G, G, G, G, Loop-7
Gain
of forwardpath4, P. -G,G,
Individual Loop Gains
There are seven individual loops.

Le the mdividunl
loopgains be L,LLkyk b,and e nselatiyg ani E4
Loop-1
Loop gain of individual loop-1, L-G,H
Loop gain ofindividual loop-21-6,G,H,
Loopgain of indivihual loop-3,L,-G,G,G,G,G,G,H
Loop-2 Loop gainofindividual ioop4,4,-6,G,,
Loop gainof individual loop 5.L-G,6,G6,H,
Loop gainofindividualloop-6, -G,,0,GG
Loop gain of individualloop-7.L,G, HB
Loop-3 Nontouching loops-0
Transfer function,
Mason's Gain formula,

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1.48 cONTROL sYSTEMS .JNTU-KAKINADA UNIT-1 (Mathematical Modeling of Control Systems) 1.49
Caleulaion of à and AK From the ohove oxpression, the signat low
graph is shown in figute (3).
A
t-, L+L,+L,+ L, 1,+L)+0
,-G,G,4,-G,6,G, G, G, G, H-6, 6, H-G6,G,6,,-6,6,0,0,H,+G,H,")
All the
0,G, 4, +
G,,6,6,6, G, H, + G, G, H, G, G,G,G, H, +G,6, G,G,,-0,, Figure (3);
loops are touching the four forward path, Now, the complete signal flow graph be obtained by
can
combining all the individual graphs as sbown in fgure (4)
From Mason's Gain formula, we have,

T PA,+P,A,+P,A,+ P, A)
Figure 14)
I,G,6,6,6,0,+0,G,6,G,+G,G,6,6,+6,G,
,

GGG,G,6G,+G,G,G,G,+GG,GG+G,G
I-GG6,4,+6,0,6,o.G.G.,+6,0H+6,G,G,G,H+G%0,G,G,,-GHahs Frequently Asked & Important Questions
Q40. Draw the signal flow a1. Describe the transfer functlon of armature controlled D.C Servo motor.
graph for the following equations:
4) 5x -2x, = 0 ()x,+2x,-4x,=0 (1)%-8x, = 0. Aprl-18, Set, a2aj1 ApriMay-17, Set4, 020)| MaylJune-15, Set4, 02tb) |
(Model PaperV, 02(b)| Aprl-18, Set-1,a2p)
MaytJune 15, St4, 220)
Aprtey-13, 8et1,2a fAprUMay-12,Seti,2p ES
Ans: Ans: Refer Q24.
Given that,
Q2. Derive an expression for the transfer function of an A.C servo mgtor.
(i) +5x,-2x, =0
(i)+2x,-4x, 0 Ans: Refer Q25 AprilMay-19,Se3, c2t) |Apiy-17, Set1, a2q0)| MES
(ii)x-8r, 0 ApriliMay-17, Set4, 1t)1AprliMay:16,Set3,2(@})
To deteminc, a3. Compare different characteristics of A.C servo motor and D.C servo motor.
Signal flow graph
Ler the output he x, and input bex,where x,, x , and x, be system variables.
Ans: Refer Q27. (AprivMay-19, Set-1, 22b1 MaylJune-15, Set4, 010))
2 TWESI
From cquation (1), we have, 04. Explain the working of a synchro transmitter receiver pair.
S,2x,0
I=Sx,+2x,
(April-18, Set4, 20)| ApriMay-17, Set-1, 22(a) | MaylJune-15,Set4, 0)1
*2x,- S Ans: Refer Q28. AprilMay-16, Set4, 02(4) IApriay-13, Set3, 02)
From the above expression it is clear that, the z, depends on x, and x, and the signal flow graph for such expressionis
shown in figure (1). a5. State and explain the Mason's gain formula.

Ans: Refer Q33. Aprintay-16, sat:-1, a1(e) | MayJune-15, Set-1, 0a)I Apri-1, Ser2 cza)
3 UMES

Q6. Discuss about the classification of control systems.

Figure (11 Ans: Refer Q1. tmportant Cuestion

From cquation (2), we have,

X,2-Ax, = 0
Q7. What do you mean by the sensitivity of the control system and discuss the effect of feedback on
sensitlvityy?
,2x,-4r Ans: Refer Q9. Iamportant Queydon

x4x-2x,
From the above expression, the signal flow graph is shown in figure (2) Q8. Define the transfer function in control system.
4
Ans: Refer Q10. mponnnr Quesuon

Q9. Explain the need of electrical analog systems.

Figure (2) Ans: Refer Q13. mportant Questton

From equation (3), we have,

010. Explain the synchro error detector with circult dlagram.
-8x,=0 Important Question
Ans: Refer Q29.
&
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 cONTROL SYSTEMS [JNTU-RAKINADA.
1.50

EXERCISE QUESTIONS

01. For the mechanical system shown below in figure, find the transfer fanction Xls]Fisk.

Figure
[ X).
|F) Ms+Bs+X
02. Find the transfer function E,JE of the circuit given in figure.
C

R
E)
E

Figure

1sR,Cy1+sR, C)
, R,C+sR,C,+sR,C,+s*R,R,C,C,+1|

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