Engineering
Engineering
Exam Author(s):
Duration: 2 hours
Permitted Reference
Materials: Table of Laplace transform
Additional Required
Stationery:
By continuing beyond this point, you confirm that you have read the information and instructions
above, and understand the conditions of this examination.
Question A1.
Consider the mechanical system shown in Figure A1. The wheel with inertia J moves
only about the stationary axis A. r is radius of the wheel. Friction f v is proportional to
velocity with a coefficient of c. There is no friction between the body M and the
bottom surface. M is the mass of the body. b is damping coefficient. T ¿ is the input
torque to the wheel.
T¿
fv
b
M
Figure QA1
(i) F ( t )=2+3 t +5 t 3
[20%]
(ii) F ( t )=(2+3 t )2 +7 t 3
[20%]
[20%]
[20%]
dx
(ii) +3 x=3 , with initial conditions x ( 0 )=0
dt
[20%]
B1
[30%]
(b) Find the Frequency Response of the system with the transfer function
3 s +1
G ( s )= 3 2
s +2 s +5
[30%]
B2.
(a) The open loop transfer of a unity negative feedback control system is:
K
G ( s )= .
(s+ 2)(2 s+3)(s+6)
(i) Find the value of K when the polar plot passes through the point (-1 j)
−1 −1 −1 A+ B
on the complex plane. Note: tan A +tan B=tan
1−AB
(ii) When K = 10, find the stability gain margin of the system
B3.
(a) The open loop transfer of a unity negative feedback control system is shown
below. Find the approximate phase margin of the system.
25
G ( s )=
s (s+3)
Table of Laplace Transforms
Linearity a 1 f 1 ( t ) +a2 f 2 (t ) a 1 F 1 ( s ) +a 2 F 2 (s ) δ (t ) 1
Scaling f ( at ) 1
F
a a
s
() u (t ) 1
s
Frequency e
−at
f (t ) F ( s+ a ) t
n
n!
shift s
n+1
Time df sF ( s ) −f (0) te
−at
1
differentiation dt ( s+ a)
2
2
d f
2
s F ( s )−sf ( 0 ) −f (0)
' n −at
t e n!
n+1
dt
2
( s+ a)
n
d f
n
s F ( s )−s
n−1
f ( 0 )−s f ( 0sin
n−2 '
ωt (n−1) ( 0 )
)−⋯−f ω
2 2
dt
n
s +ω
Time t
1 cos ωt s
integration ∫ f (x )dx s
F( s) 2
s +ω
2
0
Frequency f (t) ∞
cos (ωt +θ) s cosθ−ω sinθ
integration t ∫ F (s)ds 2
s +ω
2
s
Table of Derivatives and Differentiation Rules
2x
[ ]
2 ' '
x Quotient d f (x ) g ( x ) f ( x )−f ( x )g ( x )
Rule =
dx g( x) g 2 (x)
x
n
nx
n−1
Chain d
¿
Rule dx
x x
e e
kx kx
e ke
sin x cos x
sin kx k cos kx
cos x −sin x
cos kx −k sin kx
*****