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CONFIDENTIAL
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UNIVERSITI TUN HUSSEIN ONN MALAYSIA
FINALEXAM
SEMESTERI
sEssroN 2012 12013
CONFIDENTIAL
BDA30703 / BDA 3073
(11 marks)
(b) Obtain the transfer function (X"/X) of the mechanical system shown in FIGURE
(c) Prove that the following block diagram reductions are correct.
(D
(6 marks)
8DA30703 / BDA 3073
(iii) obtain the transfer function of the system with the input and output signal
as in Q2(b) using any suitable method.
(9 marks)
Q3 (a) Find the transfer function Xrfu)tX,(s) of the mechanical system shown in
(ii) the value of rise time (7,),peak time (4) *O steady-state elror (r",) of the
.t I
i, t
ri in
8DA30703 / BDA 3073
Q4 (a) State the definition of the phase and gain margins for a stable system
(4 marks)
(b) Illustrate the stability of the closed loop system using the Bode diagram concept
and Nyquist plot concept.
(6 marks)
(c) Consider the unity-feedback control system whose open-loop transfer function is
-- \-/
GIt(s) - s{s.tlo-=
* 5)z
(i) Sketch the Nyquist plot (use scale of I cm: 1 unit on both a:res)
(ii) Find phase and gain margin from the graph.
(iii) Give two (2) disadvantages of using Nyquist plot.
(15 marks)
Q5 (a) FIGURE Q5 shows the simplest form of on-off type feedback controller for the
temperature control. Explain how Proportional (P), Proportional plus Derivative
(PD) and Proportional plus Integral and Derivative (PID) controllers affects the
transient of this system. (Use the same plot to explain your answer)
(12 marks)
(b) The open loop transfer function of a control system is given by
K
KG(s)H(')-
s(s+l)(s+a)
Design an ideal derivative compensator to yields 16% Overshoot, with a threefold
reduction in settling time. Sketch the root locus on a linear graph paper to obtain
the corresponding pole, undamped natural frequency an and damped natural
frequency oa forthe compensated system. I Use the scale of 2 cm: I unit on both
a:res]
(13 marks)
END OF QUESTIONS
4
8DA30703 / BDA 3073
FINAL EXAMINATION
COURSE NAME : CONTROL ENGINEERTNG COURSE CODE BDA 30703 / BDA 3073
(ii)
FIGURE 01 (b)
Frictitrnless
FIGURE 02
BDA30703 / BDA 3073
FINAL EXAMINATION
COURSE NAME : CONTROL ENGINEERING COURSE CODE BDA 30703 / BDA 3073
+xr (')
k M_1 kg
FIGURE Q3
19n
ff,
I
lEB
H r?o
E
st
H 160
fr
158
14[! 5F
*
t'l
lgn
EH
E
1?0
FIGURE 05
8DA30703 / BDA 3073
FINAL EXAMINATION
- rn(xosltoo) -t' 1
: ,s ,S-
Impulse t(r) I
T,
44
Sinusoid sinattuQ) a)
ean od _;--T
s' + e)'
T, _1.32r
a)n Cosine cosattu|) ^S
1)
s'+o-
Root Locus
I
ll pole lengths Differentiation (quotient rule)
^=1e5p5X=n".-l.nelht If u = f(x)andu = S(")then
fRnite poles - finite zeros
I d ( _ v(au I d*)- tu)- s(')f'(')- f(')g' (')
6
"
_L/
a
'
#finite poles - #finite zeros
Q.n +t)n
d.l;)=T
"\ "@ I
w
e
- a-
#finite poles - #finite zeros
rc(s)a(s)- -t -r t(Zk+ t)tto'
e =Zfuite zeroangles - f nnite pole angles
Steady-state Error
,(*) = r,,"0(*)=,
.#O ; K p=
lsc(,)
,(*) = €,o^p(*) = ) Kv = l,t$tcG)
1,**()
,(*) = e parabota(*)- ) Ko- [!8s'zc(s)
E"*o