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10. What are the basic elements used for modeling mechanical rotational
system?
Moment of inertia J
Dashpot with rotational frictional coefficient
B Torsional spring with stiffness K
11. Name two types of electrical analogous for mechanical system.
The two types of analogies for the mechanical system are Force voltage and
force current analogy
12. What is block diagram?
A block diagram of a system is a pictorial representation of the functions
performed by each component of the system and shows the flow of signals. The
basic elements of block diagram are blocks, branch point and summing point.
13. What is the basis for framing the rules of block diagram reduction
technique?
The rules for block diagram reduction technique are framed such that
any modification made on the diagram does not alter the input output relation.
14. What is a signal flow graph?
A signal flow graph is a diagram that represents a set of simultaneous
algebraic equations. By taking L.T the time domain differential equations
governing a control system can be transferred to a set of algebraic equations in sdomain.
15. What is transmittance?
The transmittance is the gain acquired by the signal when it travels from one node
to another node in signal flow graph.
16. What is sink and source?
Source is the input node in the signal flow graph and it has only outgoing
branches. Sink is a output node in the signal flow graph and it has only incoming
branches.
17. Define non touching loop.
The loops are said to be non touching if they do not have common nodes.
18. Write Masons Gain formula.
Masons Gain formula states
for that part of the graph which is not touching kth forward path.
19. Write the analogous electrical elements in force voltage analogy for the
elements of mechanical translational system
Force-voltage e
Velocity v-current i
Displacement x-charge q
Frictional coeff B-Resistance R
Mass M- Inductance L
Stiffness K-Inverse of capacitance 1/C
20. Write the analogous electrical elements in force current analogy for the
elements of mechanical translational system.
Force-current i
Velocity v-voltage v
Displacement x-flux_
Frictional coeff B-conductance 1/R
Mass M- capacitance C
Stiffness K-Inverse of inductance 1/L
21. Write the force balance equation of an ideal mass element.
F M
d 2x
2
dt
d
F B x
dt
PART B
1. Determine the transfer function
C(s)
2.
Obtai
n the
mathe
matica
l
model
of the
follow
ing
Mecha
3. Convert the block diagram representation of a system as shown in fig into a signal
C(s)
flow graph. Hence find the transfer function
of the closed loop system
R(s)
C(s)
function
R(s)
6. For the
damper
system
the fig.
differen
equatio
governi
system f is the force applied.
spring,
and mass
shown in
obtain the
tial
ns
ng the
7. Using block diagram reduction techniques find the transfer function from
each input to
system shown
R.M.K.College of
8.
Draw the equivalent signal flow graph for the system shown in the fig.
v
a
f
s
10.
transfer
following
9. Draw the
oltage and
current
nalogs for the
ollowing
mechanical
ystem.
11. Using Masons gain formula, determine the ratio C/R for the system represented
by the following block diagram.
12.
gain
13.
bloc
reduct
Using Masons
formula find C/R
14. Draw the equivalent mechanical system of the system shown below. Write the
set of equilibrium equations for it and obtain electrical analogous circuits using
15. Reduce the block diagram shown below and obtain its closed loop transfer
function
R.M.
Engin
Tech
C(s)
R(s)
K.College of
eering and
nology
16. Find
C(s) by using Masons gain formula fro the signal flow graph shown
R(s)
below.
17.
A
d
ynamic
v
ibration
a
bsorber
i
s shown
i
n
the
f
ig. This
s
ystem is
r
epresent
a
tion of
many situations involving the vibration of machines containing
unbalanced components. The parameters M2 and K12 may be chosen so that the
main mass M1 does not vibrate when F(t) a sin 0t . Sketch the analogous
electrical circuit
based on force current
analogy
18.
diffe
descr
Obtain the
rential equation
ibing the system.
19. Explain the rules for block diagram reduction and hence find the transfer
function for the following block diagram.
C(s)
d
fi
21. Obtain
he analogous
ectrical
etwork for the
ystem given
elow,
t
el
n
s
b
Y2 (s)
F (s)
24.
tra
a
sys
bel
Obtain the
nsfer function of
mechanical
tem shown
ow.
25. Write the differential equation governing the mechanical rotational system
shown in the figure. Draw the torque-current electrical analogous circuit and
26. The block diagram of a closed loop system is given in fig below using the block
C(s)
diagram technique determine the closed loop transfer function
R(s)
Peak overshoot
The main draw back of static coefficient is that it does not show the variation of
error with time and input should be standard input.
21. What is step signal?
The step signal is a signal whose value changes from zero to A at t= 0 and remains
constant at A for t>0.
22. What is ramp signal?
The ramp signal is a signal whose value increases linearly with time from an
initial value of zero at t=0.the ramp signal resembles a constant velocity.
23. What is a parabolic signal?
The parabolic signal is a signal whose value varies as a square of time from an
initial value of zero at t = 0.This parabolic signal represents constant acceleration
input to the signal.
24. What are the three constants associated with a steady state error?
Positional error constant
Velocity error constant
Acceleration error constant
25. What are the main advantages of generalized error co-efficient
a) Steady state is function of time.
b) Steady state can be determined from any type of input
26. Determine the percentage overshoot of the system, whose closed loop transfer
100
function is 2
s 34.5s 1000
27. What are the effects of adding a zero to a system?
Adding a zero to a system results in pronounced early peak to system response
thereby the peak overshoot increases appreciably.
PART B
1. Derive the expressions of the time domain specifications for a second
order system with unit step input.
Time response of second order system
Rise time
Peak time
Peak overshoot
Settling time
2. Find the time response of a first order system for various standard
inputs. Apply the input
Solve using partial differential equation
Apply inverse Laplace transform
3. Find the time response of a second order system for unit step
input. Apply the input
Solve using partial differential equation
Determine the error series of the system for r(t) 1 2t t and hence the
steady
state error.
12. Determine the range of values of K for which the unity feedback system, whose
K
G(s) 2
is stable and determine the frequency of sustained
s s s 1 s 4
oscillations
13. Derive the expression for peak time from the expression for step response of
second order underdamped system.
14. For a Unity feedback second order system, the open loop transfer
2
function G(s)
. Calculate the generalized error coefficients and find
ss 2n
error series
15. Consider the unity feedback system whose open loop transfer function is
4
G(s)
. Design a lead compensator for the system so that the
s(s 2)
static
-1
0
velocity error constant Kv is 20 sec , the phase margin is at least 50 , and
the gain margin is atleast 10dB.
16. Consider the unity feedback system whose open loop transfer function is
1
G(s)
. Design a lag compensator for the system so that
s(s 1)(0.5s 1)
the
-1
0
static velocity error constant Kv is 5 sec , the phase margin is at least 40 ,
and the gain margin is atleast 10dB.
17. Derive the expression fro unit impulse response of a second order undamped
Wn2
system G(s) 2
2
s 2zWn s Wn
18. Find the unit impulse response of the second order system whose transfer function
9
G(s) 2
s 4s 9
19. Derive the expression for steady state error of the closed loop system in terms
of generalized error coefficients
1
20. For a closed loop system with G(s)
and H(s) = 5, calculate
(s 5)
generalized error co-efficient and find the error series.
21. Derive the steady state error for type one system with unit step, ramp
and parabolic inputs.
22. Derive the condition for maximum overshoot of a second order system
23. Obtain the steady state error fro unit step, ramp input and parabolic input in
terms of the transfer function
24. The open-loop transfer function of a unity feedback control system is given by
K
G(s)
. The system is to have 25% maximum overshoot and peak time
s(s 2)
1.0 sec. Determine the value of K.
25. The open loop transfer function of a unity feedback control system
is
k(1 0.5s)(1 2s)
G(s) 2 2
. Determine the position, velocity and acceleration
s s s 1
error
n
40(s 2)
C(s)
25
10t
system response as c(t) 1 0.2e 1.2e when subjected to a unit step input.
1) Find the expression for closed loop transfer function
2) Obtain the undamped natural frequency and damping ratio
d 2 y(t)
dy(t)
29. The system is described by
8
25y(t) 50x(t) . Evaluate the
2
dt
response and maximum output for a step of 2.5 units
dt 2) PI controller
30. Write short notes on : 1) PD controller
31. Determine the time response specifications and expressions for output for
unit step input to a system equation as follows. Assume initial conditions
zero.
d 2 y(t)
dy(t)
5
16y(t) 9x(t)
2
dt
32. Draw and explain a typical circuit to demonstrate the action of proportional
anddtdifferential controller. Derive the transfer function
33. The unity feedback system is characterized by an open loop transfer function
K
G(s)
. Determine the gain K, so that the system will have a
s(s 10)
damping
ratio of 0.5. For this value of K, determine the settling time, peak
10
overshoot for a unit step input.
34. For a servomechanism with open loop TF, G(s)
, what type of
(s 2)(s 3)
input signal gives the constant steady state error and calculate its value.
35. The system shown in the figure is initially at equilibrium, with r=1 and d=0. a
step function disturbance d(t) = u(t) is then initiated at t = 0. Determine the
response c(t)
for t>0.
36.
Determine
undamped natural frequency for the system shown in the fig. What is the
response c(t) of this system to a unit-step function excitation r(t) = u(t)
when all initial
conditions are zero.
37. The parameters of a mechanical system shown in the figure are M = 100kg, f
= 1000 N/m/sec and k = 10000 N/m. A step force of 100 Newton is applied to
dy(0)
the mass at t = 0. The initial conditions are y(0)
0 . Find
d
t
3) Damping factor
4) Undamped natural frequency
5) Damped natural frequency
6)
Step response as function of
time.
38. Determine the value of K and a such that the system has a damping ratio of 0.7
and an undamped natural frequency of 4 rad/sec for the system shown in the fig.
R(s)
s as b
aK
b
41. A unity feedback control system has an open loop transfer function
G(s)
10
. Find the rise time, percentage overshoot, peak time and settling
s(s 2)
time for a step input of 12 units.
PART A
1. What is frequency response?
A frequency response is the steady state response of a system when the input to the
system is a sinusoidal signal.
2. List out the different frequency domain specifications?
The frequency domain specifications are
i)Resonant peak.
ii)Resonant frequency.
3. Define resonant Peak ?
The maximum value of the magnitude of closed loop transfer function is
called resonant peak.
4. Define Resonant frequency?
The frequency at which resonant peak occurs is called resonant frequency.
5. What is bandwidth?
The bandwidth is the range of frequencies for which the system gain is more
than 3 dB. The bandwidth is a measure of the ability of a feedback system to
reproduce the input signal, noise rejection characteristics and rise time.
6. Define Cut-off rate?
The slope of the log-magnitude curve near the cut-off is called cut-off rate. The cutoff rate indicates the ability to distinguish the signal from noise.
7. Define Gain Margin?
The gain margin, Kg is defined as the reciprocal of the magnitude of the open
loop transfer function at phase cross over frequency.
Gain margin kg = 1 / | G(jw pc) |.
8. Define Phase cross over?
The frequency at which, the phase of open loop transfer functions is called
phase cross over frequency w pc.
9. What is phase margin?
The phase margin ,g is the amount of phase lag at the gain cross over
frequency required to bring system to the verge of instability.
10. Define Gain cross over?
The gain cross over frequency w gc is the frequency at which the magnitude of the
open loop transfer function is unity.
11. What is Bode plot?
The Bode plot is the frequency response plot of the transfer function of a system.
A Bode plot consists of two graphs. One is the plot of magnitude of sinusoidal
transfer function versus log w. The other is a plot of the phase angle of a sinusoidal
function versus log w.
R.M.K.College of Engineering and Technology
PART B
s(1s) 1
3
10
6. Design a cascade phase compensator for the system whose H (s)
, to
s(1 s)
0
have a phase margin of 45 , using Bodes plot.
7. Sketch the bode plot for the following transfer function G(s) and determine
the system gain K for the gain cross over frequency W c to be 5
rad/sec
k 2
G(s)
s
(1 0.2s)(1
0.02s)
8. A unity feedback system has an open loop transfer function
k
G(s)
. Design a suitable phase lag compensator to achieve
s(s 1)(0.2s 1)
0
s(s 0.1)(0.1s 1)
.hence obtain
the
K
exact plot by doing necessary corrections at corner frequencies.
i. Find the gain margin and phase margin
0
ii. The value of K for phase margin = 20
.
s(s 2)
Design a suitable lag compensator for the system so the the static velocity
-1
0
error constant Kv is 20 sec , the phase margin is at least 55 , and the gain
margin is atleast 12dB.
K
12. Consider a type 1 unit feedback system with an OLTG G f (s)
. It is
s(s 1)
-1
0
specified that Kv =12 sec and PM 40 .Design lead compensator to meet
the specifications
13. Draw the Nyquist plot for the open loop transfer function given below and
K
comment on the closed loop stability G(s)H (s)
2
s(s 1)(s 2s 2)
14. Construct bode plot for the system whose open loop transfer function is
given below
and
determine (i)
the
gain margin (ii)
phase margin4
G(s)H (s)
. The
s(s 1)(s 4)
system is to be compensated to meet the following specifications. Damping
-1
ratio z =0.4, Settling time t s = 10sec. velocity error constant Kv =5 sec .
Convert the given specifications to suit frequency domain and then use bode plot
to design the compensator.
16. Briefly explain the procedure fro drawing Bode plot of a type 1, third
order system and to determine the gain margin, phase margin and stability
of the system.
17. Describe the design procedure for a lag compensator.
18. Discuss the limitations and effects of phase lead compensation
19. Discuss the conditions in which phase lead network cannot be used successfully.
20. Determine resonant frequency, peak resonance for the system whose transfer
C(s)
5
function is given by
2
R(s) s 2s 5
80
21. A unity feedback control system has G(s)
. Draw the bode plot.
s(s 2)(s 20)
Determine Gain margin, Phase margin, gc and pc . Comment on the stability.
K
22. For a certain control system, G(s)H (s)
. Sketch the Nyquist plot
s(s 4)(s 10)
and determine the range of values of K for stability.
23. Design a suitable lead compensator for a system with unity feedback and having
K
open loop transfer function G(s)
to meet the specifications
s(s 1)(s 4)
as
damping ratio =0.5 and undamped natural frequency = 2 rad/sec
K ( 0.3)
2 30s 20
(s 4)ss
where K=2000. Determine the gain margin, phase margin,pc, gc. Comment on
0
stability. Determine the value of K to obtain phase margin of 30
K
25. Design a compensating network for G(s)
so that its
s(1 0.2s)(1 0.001s)
phase
0
margin at least will be 40 and steady state error will be in the final
position will not exceed 2% of the final velocity of 50m/sec
K
26. A unity feedback system has G(s)
. Draw the Bode plot and find
s(s 4)(s 10)
the value of K when gain margin is 10dB
27. Draw the circuit of a lag lead compensator and derive its transfer function.
What are the effects?
28. Plot the Bode diagram for the following transfer function and obtain the gain and
10
phase cross over frequencies. G(s)
s(1 0.4s)(1 0.1s)
1
29. The open loop TF of a unity feedback system is G(s)
. Sketch
s(1 s)(1 2s)
the polar plot and determine the gain margin and phase margin
30. Realize the basic compensators using electrical network and obtain the TF.
31. Design the suitable lead compensator for a system with unity feedback and having
K
open loop TF, G(s)
to meet the specifications,
s(s 1)(s 4)
i. Damping ratio () = 0.5
ii. Undamped natural frequency, n = 2 rad/sec
32. Sketch the bode plot for the following TF and determine the gain margin
and 0.75(1 0.2s)
phase margin G(s)
s(1 0.5s)(1 0.1s)
K
33. A unity feedback system has an open loop transfer function G(s) 2
s (0.2s 1)
.
Design a lead compensator to meet the following specifications
1. Acceleration constant Ka = 10
2. Phase margin = 35 degrees
34. Consider a unit feedback system with the following open loop transfer
K
function G(s)
. Design a lag compensator to satisfy the following
s(s 1)(s 4)
specifications
i. Damping ratio =0.5
ii. Settling time t s = 10 sec
-1
iii. Velocity error constant Kv 5 sec
24. Draw the Bode plot for a unity feedback system with G(s)
K 0.2s
G(s) e
. Find K so that the
s(s 2)(s 8)
system is stable with (i) Gain margin equal to 6dB and (ii) Phase margin equal to
0
45
36. A unity feedback system has an open loop transfer function,
K
G(s)H (s)
. Design a suitable lag compensator so that phase margin
s(1 2s)
0
is 40 and the steady state error for ramp input is less than or equal to 0.2
m(t) dt ,
where m(t) is
18. What will the nature of impulse response when the roots of characteristic
equation are lying on right half of the s-plane?
When the roots are lying on the real axis on the right half of s-plane, then
the response is exponentially increasing. When the roots are complex conjugate
and lying on the right half of s-plane, then the response is oscillatory
with exponentially increasing amplitude.
19. What is the principle of argument?
The principle of argument states that let F(s) be an analytic function and if it
an arbitrary closed counter in the clockwise direction is chosen in the s-plane so
that F(s) is analytic at every point of the counter. Then the corresponding F(s)plane contour mapped in the F(s) plane will encircle the origin, N times
in the anticlockwise direction, where N is the difference between number of
poles, P and zeros Z of F(s) that are enclosed by the closed counter in the s-plane
(i.e., N=P-Z)
20. What is the necessary and sufficient condition for stability in Routh Hurwitz
criterion
The necessary and sufficient condition for stability is that all of the elements
in the first column of the Routh array should be positive.
21. What is Routh Hurwitz criterion?
Routh criterion states that the necessary and sufficient condition for stability
is that all of the elements in the first column of the Routh array be positive. If
this condition is not met, the system is unstable and the number of sign changes
in the elements of the first column of the Routh array corresponds to the number
of roots of characteristic equation in the right half of the s-plane.
22. What is auxiliary polynomial?
In the construction of Routh array a row of all zeros indicate the existence of
an even polynomial as a factor of the given characteristic equation. In an
even polynomial the exponent of s are even integers or zero only. This even
polynomial is called auxiliary polynomial are given by the elements of the row
just above the row of all zeros.
23. What is quadrantal symmetry?
The symmetry of roots with respect to both real and imaginary axis is called
quadrantal symmetry.
24. In Routh array what conclusion you can make when here is a row of all
zeros?
All zero row in Routh array indicates the existence of an even polynomial as
a factor of the given characteristic equation. The even polynomial may have
roots on imaginary axis.
25. What is limitedly stable system?
For a bounded input signal, if the output has constant amplitude oscillations
then the system may be stable or unstable under some limited constraints.
Such a system is called as limitedly stable.
G(s)H (s)
| G(s)H (s) |
| G(s)H (s) |K
K | sa z1 | | sa z2 | | sa z3 | ......
| sa p1 | | sa p2 | | sa p3 | ......
Let,
G(s)H (s)
180 (2q 1)
Sum of angles
Sum of angles
to the point
a
s sa
29. How will you find the gain K at a point on root locus?
The gain K at a point s sa on root locus is given by,
number, then the test point lies on the root locus. If it is even then the test
point does not lie on the root locus.
31. What are asymptotes? How will you find the angle of asymptotes?
Asymptotes are straight lines which are parallel to root locus going to infinity
and
meet the locus at infinity.
1800-2q 1
Angle of Asymptotes
; q 0,1,2.......... ..(n m)
s 2n n2 0 .
2
2n 42n2 4n2
2
n jn 1
To fix a dominant pole on root locus draw a line at an angle of cos with
respect to the negative real axis. The meeting point of this line with root locus
will give the location of dominant pole. The value of K corresponds to dominant
pole can be obtained from magnitude condition.
PART- B
1. Write the rules for constructing the root
locus. Locate poles & Zeros
Find centroid & asymptotes
Find Break away or Break in points
Find crossing point in imaginary axis
2. Problems using root locus technique.
Locate poles & Zeros
Find centroid & asymptotes
Find Break away or Break in points
Find crossing point in imaginary axis
3. Stability analysis using Rouths criterion.
Construct routh arry
Check the first column for stability
4. Given the open loop transfer function a system with unity
feedback, G(s)H(s)=K/s(s+2)(s+10).Determine the range of K for which closed
loop system is stable.
Nyquist stability criterion.
0<K<240
5. Construct the Root locus diagram of the unity feedback system whose
K (s 2)
H (s)
s(s 1)(s 4)
6. Determine the stability of the closed loop system by Nyquist stability criterion,
1
whose open loop transfer function is H (s)
s(1 s)(1 2s)(1 3s)
k(s 0.5)
7. For a unity feedback system with open loop transfer function G(s) 2
s (s 4.5)
. Mark the following on the graph sheet and hence plot the root locus.
(ii)
Plot open loop poles and zeros
(iii)
Break away points
(iv)
Centroid
(v)
Asymptotes
8. Check the stability of the system whose open loop transfer function is
10
G(s) 2
by Nyquist criterion.
s (1 0.2s)(1 0.5s)
9. The loop transfer function of a feedback control system is given by
K (s 6)
G(s)H (s)
s(s 4)
i. Sketch the root locus plot with K as a variable parameter and
show that loci of complex roots are part of a circle.
ii. Determine the break away/break in points, if any
iii. Determine the range of K fro which the system is under damped.
R.M.K.College of Engineering and Technology
22. Apply Nyquist stability criterion to the system with loop transfer function
4s 1
G(s)H (s) 2
and ascertain its stability.
s (1 s)(1 2s)
23. Sketch the root locus for the system and comment on stability
K (s 4)(s 5)
G(s)H (s)
, K>0
(s 3)(s 1)
24. Using Routh criterion, determine the stability of the system whose
4
3
2
characteristic equation is s 8s 18s 16s 5 0 . Comment on the location of
the roots.
k(s b)
25. The loop transfer function G(s)
and H(s) = 1 for the system shown in
s(s a)
the fig. prove that a
part of root locus is a
circle.
26. By Nyquist stability criterion determine the stability of closed loop system, whose
open loop transfer function is given by G(s)H (s)
Comment
s2
(s 1)(s 1)
(0) e
Ax 0
I (Identity Matrix)
2. (t) (t)
3. (t1 t2 ) (t1 ). (t2 )
4.
5.
(t)n (nt)
6. What is controllability?
QC B : AB :..... : A
n 1
is
composite
matrix
is n
7. What is observability?
QC C : A C : ..... : A n-1C T is n
8. List the advantages of Phase variable method
1. Phase variables are simple to realize mathematically
2. Provides a powerful method for state variable information
3. Provides a link between transfer function design approach and time domain
approach.
9. List the disadvantages of Phase variable method
1. Phase variables need not always be physical variables of the
system. Therefore they may not be directly for measurement and control
purposes.
2. When the transfer function is not having zeros, it becomes difficult to
realize second or higher derivative outputs.
PART B
1. Write the
mechanical
figure
2. Obtain a state space representation of the system shown in the figure below.
3. For the circuit shown below obtain the state equations. The input voltage is
Vi(t) and the output voltage is taken across the capacitor C
R.M.K.College of Engineering and Technology
5. Find the transfer function for the system which is represented in state space
representation as follows,
x
1
2 1
x2 0 3
x 3
4
3
y 0
0 x1 0
1 x2 0 u
5 x3 1
x1
0 x2
x3
6. A linear second order single input continuous time system is described by the
following state variable model. Comment on the controllability and observability.
1 0
X
X 1U
0 2
1
1 1
0
X
X U
1 1
1
Y 1 0 X
d y(t)
3
u(t) where
d3
t the system in
y(t) is the observed output and u(t) is the input signal. Describe
the state variable form and check for controllability and observability of the
system.