0 Ones = VER + O1C dC a 7 + Cy = Kxeysa thermometer plugged into a bath of temperature 6). (3)(0(s) of the thermometer and its electrical analogue.Salt mixing tank (volume V) Figure P-2.6. eed control system shown in Fig. P-2.7, the generator field time cons= . Itis driven at constant speed giving a generated voltage of Ky volts/ stor is separately excited so as to have a counter emf of Ky volts per ees a torque of Kr newton-mJamp. The motor and its load have a come nertia J kg-m? and negligible friction. The tachometer has Ky volts amplifier gain is K4 amps/volt. Draw the block diagram of this sys- herefrom the transfer function «(s)/E,(s), where o is the load speed. 100 volts is suddenly Kr = 1.5 newton-m/amp Ra = 1 ohmi “Kp © 10 voltjrad K4 = 50 yolts/volt Ry = 100 ohms Ly = 20 henrys Ky = 10 newlonem/amp Ji, = 250 kgemn? fy, = 2,500 newlonsm per rad/ace (0110.91) = 1/50 cfOU) A ellicient of viscous friction of load, Motor to load gear ratio, _ Load to potentiometer gear ratio, Motor inertia and friction are nogligible. faplitter Figure P-2.8, bl ‘diagra ‘reduction techniques, find the closed-loop transfer func ase moto ‘block diagrams are given in Fi the system represented by the block di - sed-loop transfer functions, when the input R is(i) at station T,‘A simple voltage regulator is shown in Fig. P-3.1, A potentiometer is used at the ut terminals of the generator to give a feedback voltage KV, where Kis a constant ‘The potentiometer resistance is high enough that it may be assumed to draw ible current, The amplifier has a gain of 20 volts/volt. The generator gain is 50 — 50 volts. Feedback potentioneter vifter fal GeneratorVity of closed-loop transfer function T with respect to Iback path transfer functions respectively for « = 1 Figure P-3,2. 3.3 A servo system is represented by the signal flow graph shown in Fig. P-3. variable Tis the torque and Eis the error. Determine: (@) the overall transmission if K, = 1, K, = Sand Ky igure P-3.3. 3.4 The field of a d.c. servomotor is separately excited by means of a d.c, amplifier of gain K4 = 90 (sce Fig. P-3.4). The field has an inductance of 2 henrys and a resistance ‘of 50 ohms. Calculate the field time constant. ‘A voltage proportional to the field current is now fedback negatively to the amplifier input, Determine the value of the feedback constant K to reduce the feld time constant‘gain constant K, changes in direct proportion to generator speed, * T= Skgm* K, = 5 volts per rad/sec ohm K, = 50 volts/amp Ka = 5 ampsjvolt K;, = 0.5 volts per rad/sec Feedback tachometer .6 shows a control system for supplying a steady. flow of oil. The ‘of the oil from the tank is measured and the supply rate Q of oil to ed by an amount KiQ— Qj), when the outflow differs from the nder steady conditions Q, — Q and the corresponding head in the ‘and output pipe may be considered to have a liquid capacitance Cvet a a 2 ott iar atte oT oa a Figure P-3.6, __ Gi) Compare the open-loop and closed-loop systems of Fig. P-2.6 and Fig. P-3.7 FesPectively for steady-state error in outstream salt concentration for unit-step distur- bance in the inflow rate Q; of the concentrated salt solution, iti) The system described above is operating around the point defined by (Ch, Ch OP). _ Compare the steady-state error caused in the outstream salt concentration to uniestep disturbance (4C;) in the concentration of the inflowing concentrated salt solution for the ‘open-loop case of Fig. P-2.6 and the closed-loop case of Fig. P-3.7. [Hint : For part (iii): Change in salt (mass) inflow rate is (CPF ACHOP+ 40.) — CO," = CéLAQ,+(Qi/C)4Ci) on the assumption that AC;4Q; ~ 0. The disturbance AC; in C; can thus be equivalently regarded as a disturbance (Q,°/C,")AC; in Q;. Now (acy) Year +200) = CPLAO, + (OIC) A —— Disturbance signal 40, = Kax; Ax = K,( — aC,) since (AC, = 0)]~ Fant tost system with {as low as 0.05. The roll sensor, senses the power actuator which drives the fins to produce controll: ‘block diagram of the system is shown in Fig. P-3.8- e sensitivity of the system to changes in K; (foro = 0)- fect of feedback in stabilizing the ship against rolling motion. 1b (Oisturbance torque of sea) (cantroting torque of fins) Power actuator Fins Figure P- ‘an electromagnetic pulse is radiated from an antenna into is received back if a conducting surface such as an airplane appears signal, When the radar is in search of target, the antenna is con- hen target is located, the antenna is stopped and pointed towards rection until a maximum echo is heard. If energy is onal beam, accurate information about target location ean be can be realised if the antenna size is large (c.g., 20 m diameter). ana, hydraulic or electric motors are used. One of the schemes in Fig. P-3.9. Determinc sidyne gain Kan foro = 0.1. st , ice., (On — O44) When antenna is subjectedNED (INTEGRATING) GYRO ‘one axis is free to move, the gyro has 2 single degree of freedom ct to the frame. In eqn. (4.76) settin: 0 and providing a neglecting K, we have 03) = — ay = If, is negligible for large f. re ared to eqn. (4 ence this gyro is also called ‘The integrating gyro is v h reference to Fig. 4.41, the ou’ 1c to Con- tit into an integrating gyro. As rotates y-axis, the wheel o the inner gimbal rotates about th whose density ad on jewelled ¢ of the motor with 115 volts, 50 c/s applied to control winding 1 of inertia of the motor is 1x 10 kg-m* and frictionae ded Ro ne uta e block dingram ofthe system indicating the transfer function of each block. late the value of amplifier gain K4 such that the system has a steady-state error 9c) oF 0.1 deg for an input velocity of 1 rad/sec. What will be the. control field e under this condition ? Given: Load inertia, Jn = 2.5 kg-m? Coefficient of load friction, fr = 250 newton-m per rad/sec Motor to load gear ratio, (1/64) = 1/50 ‘Motor to synchro gear ratio, Gelb) = 1/1 Sensitivity of synchros, K, = 100 volts/rad The motor inertia and friction are negligible. ‘Synchro generator Contro} transformer BO} voltage \ cD newion-m/amp. Motor inertia and fe ae indicatins A servomechanism is used to control the angular position 6 of a mass through Bs nd signal 0;. The moment of inertia of moving parts referred to the load shaft ‘and the motor torque at the load is 6.88%10' newton-m per rad of error, ‘damping torque coefficient referred to the load shaft is 5x10? newton-m per d the time response of the servomechanism to a step input of 1 rad and deter~ Be tiicicy of transient oscillation, the time to rise to the peak overshoot and ‘the peak overshoot. ninc the steady-state | n in Fig. P-5.2, the sensitivity of the synchro -function of the motor is found to be foeFigure P-5.9. ‘system employing output-rate damping is shown in Fig. P-5.10. of derivative feedback (K, = 0), determine the damping fact ive feedback constant? ate error of the system with derivative feedb:6) = es Jocus plot of the system by determining the following: id, number and angle of asymptotes. lc of departure of root loci from the poles. Gs) = Kis(s-+2)(s-+4) he ange of values of K for which the system has damped oscillatory response, ‘What is the greatest value of K which can be used before continuous oscillations occur? _ Also determine the frequency of continuous oscillations. | Determine the value of K'so that the dominant pair of complex poles of the: system has a damping ratio of 0.5, Corresponding to this value of K, determine the closed-loop on in factored form. “A unity feedback system has an open-loop transfer function G(s) = K(s+1)is(s — 1) BME rceelocts plot with K asc variable parameter and show that the loci of roots are part of a circle with (—1, 0) as centre and radius = 4/2. ‘system stable for all values of K? If not, determine the range of K for stable |. Find also the marginal value of K which causes sustained oscillations of these oscillations. ‘Toot locus plot, determine the value of K such that the resul system has. time of 4 sec. What are the corresponding values of the roots? ‘signal flow graph of a control system is shown in Fig. P-7.4. Comment upon lity of this system when the switch S is open. the root oes plo ofthe system wih 2 asa ‘ene are part ofa ciel, rom the tooeh cages thecal” Gel aay i. damping ratio and the corresponding undamped natural frequency. ) transfer function of a unity feedback system is A Gls) = Ki(s+2)° plot and determine the following: p sensitivity for which the root locus crosses the jo-axis and the corres- -y of sustained oscillations, 7 n error constant corresponding to a damping ratio of 0.5. ‘overshoot, time to peak overshoot and settling time conside of dominant poles only. a ty is defined to be the gain in pole-zero form) equation of a feedback control system is lot for0< K < » and show that the system is conditional / a range of gain K). Determine the range of gain for which polynomial by use of the root locus method. Is*4+-245-430 = 0al controller. the root contours of the system for a = 0, 1, [Link] 4, nd the range of values of a for which the system is stable. fermine the steady-state error for unit-parabolic input. ine the damping ratio of the dor int roots for various values of K, = 5) and show that the system is very sensitive to the value of a. Es) ql # 9/5) Controle Figure P-7.11. unity feedback system has an open-loop transfer function G(s) = 25)s(s+4) rmine the settling time and damping ratio of the system. system dynamics is to be improved by cascading a compensating network e transfer function rward path as shown in Fig, P-7.12. By drawing root contours, discuss fect of varying a and b on system dynamics. Also determine suitable values settling time is less than 1 sec and the dominant rootsi control syster pensation can be carried aaa! itude versus phase curve for the transfer function S(1+-jo/10) ee Lrg FoF je] +-70.6(/50)-+ Fo/30P| in Fig, 8.22 which is obtained by utilizing the Bode plot of 8.1 Sketch the polar plots of the transfer functions given below. Determine whether plots cross the real axis. If so, determine the frequency at which the plots cross the and the corresponding magnitude | G(jo) | . G(s) = 10+s)(1+425) BY G(s) = 1/s(1+s)(1 425) (©) Gls) = 1/s*(1+s)(1+2s) (140.2s)(140.025s) (Gls) = -30-£0.0055)11+-0.0015) 82 Sketch the direct and inverse polar plots for a unity feedback system with open Joop transfer function G(s) = 1/s(1+5)* ‘Also find the frequency at which | G(fa)|—=1 and the’ corresponding phase angle ich the Bode plots showing the magnitude in decibels and phase angle in as a function of log frequency for the transfer functions given below. Determine ‘gain cross-over frequency a, (the frequency at which the magnitude curve crosses ‘O-db axis) in each case. 10 GS) = Sa0.5sy1+0.15) 7540.25) HGS 100) fhe Bode plots for the following transfer functions and determine in each ‘sain K for the gain cross-over frequency « to be 5 rad/sec.60 db/decate ~/ 6 dbfoctave ogee Os. 07. 10 1S 20 Bes) 147 16.0, 97, 175.9 , 175mLoop phase <(G) in degrees Determination of the sensitivity function from the Nichols chart. © Nyquist criterion, determine whether the closed-loop systems transfer functions are stable or not. If not, how many(1+0.0235 ‘Comment uj feedb ahah sere feedback control system has an open-loop transfer function of “ G6) = 4st c s ae Sa ee network such that a phase margin of 45° is achieved locity error c sa oa and Reemenicied ai : onstant. Sketch the Bode plot of the uncom- 4 A unity feedback system has an open-loop transfer function of 4 55-41) desired to obtain a phase margin of 40° without sacrificing the Ky of the system. na suitable lag-network and compute the value of network components assuming suitable impedance level. 5 A unity feedback system is characterized by the open-loop transfer function Gs) = ea K OO) = ENED ‘{a) Determine the value of K if 20% overshoot to a step input is desired. (b) For the above value of K determine the settling time ‘and K, (velocity error tant). “(© Design a cascade compensator that will give approximately 15% overshoot to a it step input, while the settling time is decreased by a factor of 2.5 and K, > 20. 46.6 Consider the system shown in Fig. P-10.6, Design a lead compensator for this to meet the following specifications: ettling time / locity error constant K, = 2 sec-* K | se Figure P-10.6. phase-Lead compensator for the system shown in Fig, P-10.6, to satisfy ‘em must be greater than 45°. Input should be less than 1/15 deg per deg/seceee | ew (C7) — OCYK)x(K) + OT)r(k) (12.139) It is similar to the equivalent result for continuous- seen (12.112). The ae method of pole placement discussed -7 is applicable to the system of Fig. 12.25, ection 12. F Sanain Fig, P-i2,0, choote o(()und 04 t) estate verlanle oe xa ibe State equations satisfied by them, Bring these equations in the vector- welt) y(t) fy ¢ © Ren, C+ 1ue Figure P-12.1, A schematic diagram representing a d.c. motor and load is given in Fig, P-12.2. is maintained constant during operation. Assume the motor is operating inthe ir region, Determine the state equations in the vector-matrix form for the sine Le =106 i Gi)xT=19 6 HW nt of inertia of motor and load = J emf constant = Ksie 6 ey oy mu k diagram representation of the state model. ck system has a closed-loop transfer function Cs) 10(4 + 4) (8) 363+ M3 + 3) model, system is characterized by the closed-loop transfer function TS) = Bp Oe 35 + signal flow graph and therefrom construct a state model of the ays feplen