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Regulation: 2015

BANNARI AMMAN INSTITUTE OF TECHNOLOGY

(An Autonomous Institution Affiliated to Anna University, Chennai)
SATHYAMANGALAM – 638 401

END SEMESTER THEORY EXAMINATIONS - NOV / DEC 2019

V Semester

Degree &Branch : B.E&EEE

Time :3 Hrs. Maximum :100 Marks

15EE502

Instructions:
1. Students should not mark/write anything on the Question Paper.
2. Students should make sure that the Question Paper contains xx numbered pages.
3. Students may request rough sheets for any computation or calculation.
4. Sections of Question Paper contains questions for 30 Marks each.
5. Students are free to attend any or all questions of their choice, however maximum mark is limited to 20
in each section
[Link]* Questions

SECTION A COURSE OUTCOME 1 MAXIMUM : 20 MARKS

1 (i) The brushless dc motor with controller is shown in [Link] block diagram of the given
system is shown in Figure [Link] system used an inner control loop within an outer speed
loop. The inner control loop controls the motor current and motor torque below a safe limit.

Figure.1.1

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Figure1.2

Step 1:

Step 2:

Step 3:

Step:4

Find the missing steps(step 2 &step 4) in the given block diagram reduction.

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(6 - Marks, U/C, 1)
(ii) In figure 1.2 if speed sensor is removed .Find the overall transfer function of the given system
[Cs)/R(s)]. (4 - Marks, Ap/C, 2)

(iii) Select the signal flow graph for the given system which is shown in Figure.1.2
(4 - Marks, U/C, 2)
a)

b)

c)

d)

(iv) Identify the no of forward path and gain for that particular chosen signal flowgraph in question
no (iii) ------------------- [0,1,2,3] (1- Marks, U/C, 1)
(v) Find the no of individual loops for particular chosen signal flowgraph in question no (iii)
------------------ [0,1,2,3] (1- Marks,
U/C, 1)
(vi) Find the no of non touching loops for particular chosen signal flowgraph in question no
(iii)------------- [0,1,2,3] (1- Marks,
U/C, 1)

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(vii) Calculate the loop gain for particular chosen signal flowgraph in question no (iii) --------------
(1- Marks, U/C, 2)
(viii) Choose the over all transfer function for the that particular chosen signal flow graph in question
no (iii) (2- Marks, U/C, 2)

a) b)

c) d)

(ix) The system controls the thickness of the rolled steel in a steel [Link] rolls are driven at
constant speed by drive [Link] translational motion of the movable roll is controlled by the
hydraulic actuator.

Figure 1.3 System for controlling the thickness of rolled steel

The mechanical translational system of Figure.1.3 is given [Link] the differential

equation of the given system. (2- Marks, Ap/p, 2)

a) Mdy /dt +Ky+ B d2y/dt2=F(t)

b) Md2y /dt2 +Ky+ B dy/dt=F(t)

c) Md2y /dt2 +Ky+ B dy/dt=0

d) Md2y /dt2 +Ky+ B d2y/dt2 =0

(x) Find the transfer function(Y(s)/F(s) of the system which is shown in figure.1 ----(2-Marks, U/P,

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2)
(xi) The analogous quantities of the rotational mechanical system and electrical system are given
[Link] up the blanks. (6- Marks, Ap/C, 3)
Mechanical Rotational Torque Current Analogy
TorqueVoltage Analogy
System

………1………

………2………

………3………

………4………

……………5………

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………6………

SECTION B COURSE OUTCOME 2 MAXIMUM : 20 MARKS

(i) A magnetic disk drive requires a motor to position a read/write head over tracks of data on a
spinning disk,as shown in Figure [Link] motor and head may be represented by the transfer
function which is shown in Figure 2.2.

Figure.2.1

Figure.2.2

Identify the nature of the system which is shown in figure.2.2 (2- Marks, U/C, 1)

a) overdamped

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b) under damped

c) critically damped

d)

(ii) The steady-state error in the output of the system which is shown in figure 2.2 for a unit-step
input is _________ [0,1,∞ ,1.25] (2- Marks, U/C, 1)

(iii) The steady-state error in the output of the system which is shown in figure 2.2 for a unit-ramp
input is _________ [0,1,∞ ,1.25] (2- Marks, U/C, 1)
10t
(iv) The impulse response of a system which is shown in figure 2.2 is 5e- ; its step response is
equal to (2-Marks, Ap/C, 2)

(v) Extenders are robot manipulators that extend (that is, increase) the strength of the human arm
in load-maneuvering .The system is represented by the block diagram

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Figure.2.3

Figure.2.4

The damping ratio and natural frequency of a second-order system which is shown in figure 2.4
are 0.6 and 2 rad/s respectively. Which of the following combinations gives the correct values of
peak and settling time, respectively, for the unit-step response of the system?
(2- Marks, Ap/C, 2)

[Hint : tp= π /w d ts= 4/δ wn ]

(vi) A control system which is shown in figure.2.4 having a 0.6 damping factor, will give---------
(1- Marks, Ap/C, 2)
(a) A critically damped response
(b) An oscillatory response
(c) An undamped response
(d) No response
(vii) If the given second-order system exhibits 100% peak overshoot. Its damping coefficient is:
(1- Marks, Ap/C, 2)
(a) Equal to 0
(b) Equal to 1
(c) Less than 1
(d) Greater than 1
(viii) The control of an autonomous vehicle motion from one point to another point depends on
accurate control of the position of the [Link] characteristics of the control of the
autonomous vehicle position is shown in figure 2.6 with some steady state [Link] unit-step
response of a unity feed back system with open loop transfer function G(s) = K/(s+1)(s+2) is
shown in the figure. The value of K is
(6-Marks, Ap/C, 3)

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Figure.2.5

Figure.2.6

(A) 0.5
(B) 2
(C) 4
(D) 6
(ix) Consider the inverted pendulum mounted to a motor, as shown in Figure 2.7 The motor and
load are assumed to have no friction [Link] pendulum to be balanced is attached to the
horizontal shaft of a servomotor. The servomotor carries a tachogenerator, so that a velocity
signal is available, but there is no position [Link] transfer function of the inverted pendulum
is shown in Figure.2.8

Figure.2.7

In the system shown in Figure [Link] r(t)= 1+2t ( t >0) the steady-state value of the error
e(t) is equal to (6-Marks, Ap/C, 2)

Figure.2.8

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(a) Zero
(b) 2/10
(c) 10/2
d) Infinity

[ hint : ess= Lims – 0 sR(s) / 1+G(s)H(s)]

(x) In the system shown in Figure 2.8 calculate the static error constant and steady-state value of
the error e(t) for parabolic input is. (4-Marks, Ap/C, 2)
a) 5 and 0.2

b) 0.2 and 5

c) 2 and 0.5

d) 5 and 2
(xi) Find the The type and order of the closed loop transfer function of the system which is shown in
figure 2.8 are-------------- and --------------- respectively.
(2-Marks, Ap/C, 2)

SECTION C COURSE OUTCOME 3 MAXIMUM : 20 MARKS

3 (i) As an automobile moves along the road, the vertical displacements at the tires act as the
motion excitation to the automobile suspension system.A schematic diagram of a simplified
automobile suspension system is shown in figure 3.1 and the frequency response of a linear
system G(jw) is provided in the tubular form.1 below

Figure 3.1

Table.1

Calculate the phase and gain margin of the system which is shown in figure.1
(5-Marks, E/P, 3)

(ii) The asymptotic approximation of the log magnitude versus frequency plot of a minimum phase
system which is shown in figure 3.1 with real poles and one zero is shown in Figure 3.2
(5-Marks, E/P, 3)

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Figure 3.2

(iii) Identify the number of poles and zeros for the system which is shown in figure 3.2 is
(4-Marks, Ap/P, 3)

a) 2 zero and 3 poles

b) 1 zero and 4 pole
c) 2 pole and 2 zero
d) 1 pole and 2 zero
(iv) The open loon transfer function the given system which is shown in figure 3.2 is G(s) =
1000/s(s+10)2 Determine the magnitude of (Gjω) in dB at an angular frequency of ω = 20
rad/sec (4-Marks, Ap/P, 3)

[Hint: 20 log(1/G(jw])
(v) The phase margin in degrees is (4-Marks, Ap/P, 3)

Hint: γ =180 0+ ϕgc

(vi) The transfer function of the given open loop system is stable Say true or false.
(1-Marks, U/C, 1)
(vii) Choose the polar plot of the open loop transfer function of the system which is given in question
no (iv) (3-Marks, Ap/P, 2)

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(viii) The polar plot (for positive frequencies) for the open-loop transfer function of a unity-feedback
control system is shown The phase margin and the gain margin of the system are respectively
(4-Marks, Ap/P, 2)

SECTION D COURSE OUTCOME 4 MAXIMUM : 20 MARKS

4 (i) Robots can be used in manufacturing and assembly operations that require accurate, fast, and
versatile manipulation.

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Figure 4.1

The open-loop transfer function of a direct-drive arm may be approximated in Figure 4.2

Figure 4.2

Determine the the range of K when the system is stable condition.

(5-Marks, Ap/C, 2)
a) k>0
b)k>252
c) 0<k<252
d) 0<k < 252
(ii) If the value of gain K= 260 in Figure 4.2, determine the stability of the system and location of
roots. (5-Marks, U/C, 2)

a) unstable & 3 positive real roots

b) Stable & 3 negative real roots

c) unstable & 1 positive real root and 2 negative real roots

d) Stable & 1 positive real root and 2 negative real roots

(iii) If the system which is shown Figure 4.2 produces the sustained oscillations determine the value
of K and roots on the imaginary axis. (5-Marks, Ap/C, 2)
(iv) Match the Pole–zero plot of linear control system with the response of the system and select
the correct answer using the codes given below
(6-Marks, U/C, 2)
Pole–zero plot of linear Transfer function of the Response of the system(C)
control system (A) system (B)
A/(s+a+jb) + A*/(s+a-jb)

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A/(s-a+jb)+A*/(s-a-jb)

A/(s+jb) + A*/(s-jb)

A(s+a1)/(s+a2)(s
+a3)

(v) Refer the open loop transfer function which is shown in Figure 4.2 , identify the centroid and
angle of asymptotes. (3-Marks, U/C, 2)

Centroid-----------------

Angle of asymptes ------------,-----------,--------- and ------------

(vi) Root locus of the system can lie on the real axis: (3-Marks, Ap/C, 2)

a) Between s= 0 and -1 and s= -1 and -3

b)Between s= -3 and -6 and s=-6 and -∞

c)Between S= -1 and -6 and s= -6 and -∞

d)Between s = -1 and s=-3 ,s=-6 and -∞

(vii) Choose the value of breakaway point of the system which is shown in Figure 4.2 is
(3-Marks, Ap/P, 2)
a) S=9.33
b) S=-9.33
c) S=-16
d) S=16
SECTION E COURSE OUTCOME 5 MAXIMUM : 20 MARKS
5 (i) The Manutec robot has large inertia and arm length resulting in a challenging control problem,
as shown in Figure 5.1. The block diagram model of the system is shown in Figure 5.2

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Figure 5.1

Figure 5.2

The plant dynamics transfer function is represented by

G(s) =K/s(1+2s)

Calculate the gain value(k) (2-Marks, U/C, 2)

a) 10
b) 5
c) 15
d) 20
[hint: ess= 1/kv]
(ii) From the Bode plot of the system (Figure 5.2) we get phase margin for the uncompensated
system is -18o. Hence the system is unstable. To stable the system lag compensation is used.
Desired phase margin is 40o for stability. Choose the value of lag phase angle (in degrees) at
maximum.
(3-marks, An/C,3)
(Hint: γn = γd + € )

(A) 55
(B) 45
(C) 60
(D) 65
(iii) From the Bode plot of the system (Figure 5.1) the ω gn is [Link] the attenuation factor(
β) (5-marks, U/C,3)

β=5
β=10
β=15

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β=20
(iv) Choose the transfer function of the lag compensator system if T=10, β=10
(3-marks, U/C,2)
a) 20(1+20s)/(1+200s)
b) 10(1+20s)/(1+200s)
c) 10(1+10s)/(1+100s)
d) 20(1+10s)/(1+100s)

(v) A linear time-invariant of system which is shown in figure 5.1 is described by the state variable
model. (6-marks, Ap/P,3)

(a) The system is completely controllable.

(b) The system is not completely controllable.
(c) The system is not completely observable.
(d) The system is not completely observation.
(vi) A three-axis pick-and-place application requires the precise movement of a robotic arm in three
dimensional space,as shown in Figure 5.3 for joint. The blockdiagram of the system is shown in
[Link] lead network

Figure 5.3

Figure 5.4

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The design procedure of lead compensator of the system which is shown in figure 5.4 is given
below

Figure 5.5
Find the missing steps in the given flow chart (6-marks, U/C,3)

a) Step: 2 Open Loop Gain (K)

(b) Step: 3 ________________

(c) Step: 6 ________________
(d) Step: 8 ________________
(e) Step: 11 ________________
(f) Step: 13 ________________
(g) Step: 15 ________________

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RBT ANALYSIS
Remember Understand Apply Analyze Evaluate Section T
Sectio
n A B C D E A B C D E A B C D E A B C D E A B C D E A B C
Factu
al
10.
666 0.6 9.3 11. 6.6 8.6 3.3 17.33 8.666
Conce 666 66 33 33 66 1 66 33 33333 2 6666
ptual 67 4 7 3 3 7 6 8 7 0 0 0 0 0 3 0 0 0 0 0 3 0 7
1.3 2.666
333 1.3 4.6 5.3 6.6 66666 11.33
Proce 333 33 66 33 66 7 3333
dural 33 0 0 0 0 3 0 7 2 3 0 0 0 0 0 0 0 7 0 0 3
Metac
ognitiv
e
Sectio 0.6 9.3 11. 12. 10. 5.3 3.3 6.6 2
n 66 33 33 1 66 66 33 33 66 0
Total 12 4 7 3 3 8 6 7 7 3 0 0 0 0 3 0 0 7 0 0 20% % 20%
Cognit 37.33333333 52.66666667 3.333333333 6.666666667 100%
ive
Total

(vii) Lead compensator increases bandwidth say True b) False (1-marks, U/C,1)
(ix) The desired phase margin of the given system which is shown in figure.5.4 is 45 0 ,but avialble
phase margin is 130 and so maximum lead angle to be calculated is -------------
(2-marks, U/C,2)

Hint:[ɸm =γd −γ +∈]

(x) The transfer function of a phase lead compensator (Compenesation in figure 5.4) is given by:
G(s) = 5(1+0.3s)/(1+0.1s) where T>0. The maximum phase shift provided by such a
compensator is [Hint= α = (1-sin∅ m¿/(1+sin∅ m¿] (2-marks, Ap/P,2)

a) 200 b)450 c) 300 d)600

***End of Question Paper***

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