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Control System Answer Key

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NANDHAKUMAR A
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8 views

Control System Answer Key

Uploaded by

NANDHAKUMAR A
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 17

SEMESTER END EXAMINATIONS - APRIL 2024

ANSWER KEY

Course Code : 18EE502

Course Name : CONTROL SYSTEMS

Course offering Department : EEEE

Semester : V

Prepared by
(Faculty name and ID)

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SECTION A

A1 (i) Nodes = 3
Opposing force with respect to M1 = 3, Opposing force with respect to M2 = 4
(ii)

(iii)

A2 (i) From the block diagram of armature controlled DC motor applying the rule of
(a) combining the blocks in cascade and
(b) eliminating the negative feedback path directly the transfer function of the
system is attained. Also substitute
(c) Td(s) = 0.
(d) Transfer function

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(ii)

(iii)

Transfer function

A3 (i)

Number of forward paths = 1

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Forward path gain = 2GRZ(s)
Number of individual loops = 3
Individual loop gain

.
All loops touch the forward path. Loops L1(s) and L3(s) are non touching

(ii)

Substituting R= 1kΩ and C= 1μF


T(s) = (1/0.003)/ = 333.33/s+666.667

(iii) A1- B1-C1


A2-B2-C2

SECTION B

B1 (i) The closed loop transfer function

Nature of the system


Order 2
Type 0

(ii) Steady state error for unit step, unit ramp and impulse input
For unit step input

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Positional error constant

Kp = 0
For type 0 system

ess = 1
For unit ramp input
Velocity error constant

For type 0 system

For impulse input


The steady-state error to a unit impulse input is 0.

(iii) tp = π/ωd = π/ωn√(1-ζ2) = 1.95s


Settling time = 4/ζωn = 3.33s

B2 (i) G(S)/R(s) = G(s)/1+G(s)H(s)


Substituting G(s) = K/s(Js+B)and H(s) =5
G(S)/R(s) = K/s(Js+B+5K)
So there is no change in type and order of the system.

(ii) If 0<ζ<1 - Underdamped


ζ=1 Critically damped
If the damping ratio ζ is equal to zero, the response becomes undamped and
oscillations continue indefinitely.

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(iii)

B3 (i)

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(ii) The equation of motion for the system is md2x/dt2 + bdx/dt +kx = 0,
ms2X(s) + bsX(s)+ kX(s) = 0
Taking X(s) commonly
X(s)[ms2+bs+k] = 0

comparing with the standard second order equation


ωn2 = k
The frequency cannot be predicted because of the k are unknown values.

SECTION C

C1 (i)

Since both gain margin and phase margin are positive the system is stable.

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(ii) Since at ω = 2 and ω = 25, slope changes from 40dB/dec to – 60 dB/dec at both the
value. So there are poles at ω = 2 and ω = 25.
Also at ω = 0.1, slope is – 40 dB/dec, i.e. there are two poles at origin.
Hence transfer function, should be of the form

(iii)

C2 (i)

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(ii) The gain cross over frequency is given by
γ = 180+ɸgc
γ = -210˚
ɸgc = -390˚

(iii)

Gain Margin = 0 deg

C3 (i)

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(ii)

(iii)

SECTION D

D1 (i)

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Page 11 of 17
(ii)

Page 12 of 17
(iii)

D2 (i)

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From the s1 row the system will be stable when K<666.25.

(ii) When K = 666.25

The system oscillates when K = 666.25, so K< 666.25.

(iii) If K =700
So 52.5s2+200+700 = 0
S2 =(-200-700)/52.5
S = + or – j4.140
The roots lies on the imaginary axis so the system is unstable.

D3 (i)

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(ii) The system is stable at K=40

(iii)

The coefficient c3 sets the acceptable range of K and a, while b3 requires that K be less
than 60. Requiring c3 > 0,

SECTION E

E1 (i) ess ≤ 1/10


ess =1/kv
kv = 10
Lt sG(s) = Lt s(K/s(s+3)(s+6) = 10
s→0 s→0
= K/(3*6) =10
K = 10*3*6 = 180
K = 10*2*3 = 240
The percentage increase is 33

(ii) Qc = [B AB]
Page 15 of 17
AB = [−10 1a ][ 01]
1
AB = [ ]
a
Q=1
Hence the system is controllable a can be 0 to any number
The system cannot be uncontrollable because the any value of a leads to the system
controllable.

E2 (i) 1/T = ½ so, T = 2


1/Tβ = 4/2, Tβ = ½,
β =0.25

(ii) β = (R1+R2)/R2
T = R2C

(iii) Gc (s)=G1 (s)∗G2 (s)


Segregate the G(s)

(1+2.5 s) (1+ 0.22 s)


= 14 ∗0.07
(1+35 s) (1+0.0154 s)
Here β = 14
α = 1/β = 1/14 = 0.07

E3 (i) Velocity error constant


kv = Lt sG(s) = Lt s(K/s(s+3)(s+6) = 80
s→0 s→0
K = 1140

(ii) ( 1+ s T 1 )
Transfer function of lag compensator = β
( 1+ sβ T 1 )
T1 = 10/ωgcl = 10/4 = 2.5
A gcl /20 23/ 20
β=10 =10 =14
Agcl = 23 db taken from the table
ωgcl = 4 rad/sec

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(1+2.5 s)
= 14
(1+35 s)
(iii) ( 1+s T 2 )
Transfer function of lead compensator = α
( 1+ sα T 2 )
(1+ 0.10 s)
Transfer function of lead compensator 0.1
(1+(10∗0.1) s)

Prepared by Verified by Approved by


(HoD name with seal) (DCoE)

Page 17 of 17

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