G0023
Name ______________________________________________ Section _____________ Date
____________
General Instructions:
Read and understand each statement carefully.
Avoid unnecessary erasures. If you want to change your answer, enclose it in a parenthesis and write your
final answer on the space provided before each number.
Use black or blue pen only. Pencils are not allowed.
If you have questions, raise your hand and the exam proctor will attend to you.
IDENTIFICATION (20 Items x 2 Points Each)
Read and analyze each item.
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
11.
12.
13.
14.
15.
16.
17.
18.
19.
Refers to feedback required to control the motors current speed.
Called Piecewise constant controller.
It is used mostly in combination with the P or PD controller to reduce the steady state error of the P controller.
Most advanced and almost industry standard controller.
Most commonly used method for locomotion in mobile robots.
Comprises a disk equipped with various magnets and one or two Hall Effect sensors.
Typical power amplifier chip than contains two separate amplifiers.
An operating system component that handles task switching.
It is a state wherein a task is currently being executed.
It can be used for reacting external sensors.
An event of an external interrupt signal will stop the currently executing task.
A type of synchronization that is useful for embedded systems.
It is crucial whenever two or more task exchange information blocks or share any resource.
It only needs to store the previous control value and the previous error value to calculate the output.
DC in DC Motor stands for.
PID stands for.
It is done by measuring the motor speed at various settings.
It has a fast response and suffers no steady state error.
It is an essential topic for embedded systems, bringing together actuators and sensors with the control
algorithm in software.
20. Also known as Bang Bang controller.
ENUMERATION (20 Items x 2 Points Each)
1. Three (3) Types of controller
2. Three (3) Advantage of DC Motor
3. Two (2) Principal ways of stopping motor
4. Three (3) Standard Synchronization Method
5. Three (3) States of Tasks
6. Two Types of Interrupts
7. Two (2) things to control the motor
8. Which controller eliminates steady state error?
1st Term, SY 20152016
of STI
Pre Finals Examination
*Property
Page 1 of
G0023
Name ______________________________________________ Section _____________ Date
____________
TRUE OR FALSE (10 Items x 2 Points Each)
Write TRUE if the statement is correct, if the statement is incorrect, underline the word that made the statement
incorrect then writes the correct replacement on the space provided before each number.
1. Derivative controller is a combination with the P or PI controller that speeds up the P controllers response to
a change of output.
2. DC is much difficult to control than pneumatic actuators.
3. The way to implement an H Bridge when using microcontroller is to use a power amplifier chip in
combination with the digital output pins of the controller.
4. PWM is known as Pulse Wide Modulation.
5. Motor Calibration is essentially important for robots with differential drive.
6. A voltage is applied to the terminals of the motor, which generates current in the motor armature.
7. In almost every application of pre-emptive multi tasking, some synchronization scheme is not needed.
8. In ready task, a task is not ready for execution.
9. Timer Interrupts can be used for implementing periodically repeating tasks with fixed time frame.
10. Pre-emptive multi tasking requires an explicit transfer of control.
1st Term, SY 20152016
of STI
Pre Finals Examination
*Property
Page 2 of