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SKEE 3133 / SKEU 3133

Q.1 (a) The Direct Current (D.C.) motor is used to keep the load rotates at a constant
speed as shown in Figure Q.1a. The feedback signal is taken by the speed
tachometer. This will produce an error signal if the feedback speed signal is
compared to the set point referring to the system input. The error signal will be
sent to the amplifier to actuate the rotation of the motor, which will transfer the
torque through gear to the output load such as blower fan. Draw a functional block
diagram for the speed control system shown in Figure Q.1a and label all the
related components.
(3 marks)

Figure Q.1a

(b) Convert the system in Figure Q.1b into a signal flow graph. Then, determine the
C ( s)
transfer function, , for the system using Mason’s rule.
R( s)
(10 marks)

Figure Q.1b
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(c) The transfer function of a mechanical system is given as follows:

C(s) K
=
R(s) 5s + a
where R(s) and C(s) are the input and the output of the system respectively, K is
the gain and a is the pole value.
The output response of the system to a unit step input is given in Figure Q.1c.
(i) Determine the values of the time constant (τ), the settling time (Ts) and the
steady state error (ess) of system from Figure Q.1c.
(ii) Determine the values of K and a.
(iii) Discuss on how to improve the transient and the steady state responses of the
system.
(12 marks)

Figure Q.1c
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VL (s)
Q.2 (a) Determine the transfer function, , for the circuit shown in Figure Q.2a,
Vi (s)

where v L (t) is the output voltage and vi (t) is the input voltage.

(7 marks)

Figure Q.2a

(b) Figure Q.2b shows the translational mechanical system, where f (t) is the input and
x1 (t) and x2 (t) are the displacement outputs.

f(t)

Figure Q.2b

(i) Derive the differential equations of motion relating the force f (t) and the

displacements x1 (t) and x2 (t) .

X 2 ( s)
(ii) Determine the transfer function, of the system.
F ( s)
(8 marks)
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(c) An armature-controlled DC servomotor to drive a load is shown in Figure Q.2c(i);

ea (t) ia (t) Ra and La are the input voltage, armature current, resistance and
, ,
inductance of the electrical circuit respectively; while q m and θ L are the angular

displacement of motor and system’s load, respectively.

The rotational voltage (back electromotive force), vb (t) is proportional to a rotor

dθ m (t)
speed and the output torque, Tm (t) developed by the motor is proportional
dt
to the armature current ia (t) . The motor develops a torque-speed characteristics

when operating at steady state with a dc voltage ea (t) = 5 V as shown in Figure

Q.2c(ii).

By assuming that the value of La is much lower than the value of Ra , determine

θ L (s)
the transfer function of the system, .
Ea (s)

(10 marks)
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Figure Q.2c(i)

Figure Q.2c(ii)
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Q.3 (a) A linear dynamic system is characterized by the following equations,

!"̇ (%) + 2!)̇ (%) = 3!" (%) + 4!) (%) − 5/(%)
!"̇ (%) − !)̇ (%) = 2!" (%) + !) (%) + /(%)
0(%) = !"̇ (%) + 2!) (%)
where:
/(%): input
0(%): output
!" (%) dan !) (%): state variables

Write the system’s state space representation, (the state and output equations) in
matrix format.
(6 marks)

(b) Figure Q.3b shows the circuit system with the input voltage is 23 (%) and the
output is the voltage across the resistor 4) . Form a state space model for this
system using inductor current, 56 (%) and voltage drop at capacitor C, (27 (%)) as
the state variables.
(9 marks)

Figure Q.3b
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(c) Represent the mechanical rotational system in Figure Q.3c in state space form,
where the input is torque, 8" (%) and the output is angular displacement, 9: (%).
(10 marks)

K1

K2

Figure Q.3c
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Q.4 (a) A transfer function represents the relationship between the output signal and the
input signal of a control system. Two different transfer function models of a
temperature control system have been proposed by the process engineer at XYZ
Company, namely Model A and Model B:
17
Model A = 2
s + 6s + 34

Model B = 15
2
2s +16s + 30
(i) Plot the poles location for Model A and Model B on s-plane.
(4 marks)
(ii) Sketch the unit step responses of Model A and Model B in the same axes.
(2 marks)
(iii) Based on results from part (ii), which is the best system to be used? Give
your reason.
(2 marks)

(b) Figure Q.4b(i) shows a simple unity feedback position control system of a motor,
where K1 is the controller.
(i) If K1 = 1, calculate the percent overshoot (%OS) and the settling time (Ts) if
unit step is applied to system in Figure Q.4b(i).
(3 marks)
(ii) To improve the response found in Q.4(b)(i), the gain of controller K1 is
increased and a tachometer (voltage generator) is inserted into the loop as
shown in Figure Q.4b(ii). Determine the values of K1 and K 2 , if both the

percent overshoot and the settling time of the system are reduced by 95%
from those obtained in Q.4(b)(i).
(6 marks)
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Figure Q.4b(i)

Figure Q.4b(ii)

(c) Figure Q.4c shows a closed-loop system where R(s) and C(s) are the input and
output respectively. K is a controller that the value can be changed for the system
to maintain its stability to the step input.

Figure Q.4c
(i) Determine the range of controller K for the system to be stable.
(3 marks)
(ii) A critically stable system is a case where dominant poles are located on the
imaginary axis, and resulted in an oscillatory system response. If the system
in Figure Q.4c operates under this condition, determine all the poles on the
imaginary axis. Determine another pole on the real axis.
(5 marks)
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Table 1. Basic Laplace Transform Table

No. f(t) F(s)

1. d (t ) 1
1
2. u (t )
s
1
3. tu (t )
s2
n!
4. t nu (t )
s n +1
1
5. e - at u (t )
s+a
w
6. sin wt u (t )
s +w2
2

s
7. cos wt u (t )
s +w2
2

Table 2. Laplace Transform Theorems

No. Theorem Description

¥
1. L[ f (t )] = ò e -st f (t )dt = F ( s) Laplace definition
0
2. L[kf (t )] = kF ( s) Linearity theorem
3. L[ f1 (t ) + f 2 (t )] = F1 (s) + F2 (s) Linearity theorem
4. L[e - at f (t )] = F ( s + a) Frequency shift theorem
1 s
5. L[ f (at )] = F( ) Scaling theorem
a a
é df ù
6. L ê ú = sF ( s ) - f (0) Differentiation theorem
ë dt û
éd 2 f ù
7. L ê 2 ú = s 2 F ( s) - sf (0) - f ' (0) Differentiation theorem
ë dt û
éd n f ù n
8. Lê n ú = s n
F ( s ) - å s n-k f k -1 (0) Differentiation theorem (in general)
ë dt û k =1

9. f (¥) = lim sF (s) Final value theorem

s®0
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Table 3. Relationships basic electrical linear components

Component Voltage-Current Current-Voltage Voltage-Charge

t
1 dv (t ) 1
v(t ) = ò i(t )dt i (t ) = C v(t ) = q(t )
Capacitor C0 dt C
1 dq (t )
v(t ) = Ri (t ) i (t ) = v(t ) v(t ) = R
Resistor R dt
t
di (t ) 1 d 2 q(t )
L ò0
v(t ) = L i(t ) = v(t )dt v(t ) = L
Inductor dt dt 2

Plot Percentage Overshoots (%OS) versus Damping Ratio (ζ)

100
90
Percentage Overshoots (%OS)

80
70
60
50
40
30
20
10
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Damping ratio