Faculty of Engineering and Technology

Ramaiah University of Applied Sciences

Department Electrical Engineering Programme B.Tech in ME
Semester/Batch 5th /2016
Course Code MEC303A Course Title Control System Engineering
Course Leader(s) B K Swathi Prasad

Assignment -02
Reg.No. XXXXXXXXXX Name of Student Enter Name

Marks
Sections

Marking Scheme First

Marks
Max
Examiner Moderator
Marks

A 1.1 Comparison of manual methods and simulation tools 2 00 00

Part A

A 1.2 Review of steps involved in modelling and analysis 2 00 00

A 1.3 Justification of stance with concluding remarks 1
Part-A Max Marks 05 00 00
Part B.1

B 1.1 Computation of values for the selected motorcycle. 5 00 00

B 1.2 Values of proportional and differential gain using root locus. 3 00 00
B 1.3 Time – response characteristics with concluding remarks 2 00 00
B.1 Max Marks 10 00 00

B 2.1 Value of ‘K’ such that the time response is within ‘x’ seconds. 3 00 00
Part B.2

B 2.2 Simulation and analysis using standard simulation tool. 4 00 00

Justification of the selection of frequency response technique
B 2.3 3
and comment on the stability.
B.2 Max Marks 10 00 00

Total Assignment Marks 25 00 00

1
 Course Marks Tabulation

Component-1 (B) First

Remarks Moderator Remarks
Assignment Examiner
A 00 Enter Remarks 00 Enter Remarks

B.1 00 Enter Remarks 00 Enter Remarks

B.2 00 Enter Remarks 00 Enter Remarks

Marks (Max 25 )

Signature of First Examiner Signature of Moderator

Please note:
1. Documental evidence for all the components/parts of the assessment such as the reports,
photographs, laboratory exam / tool tests are required to be attached to the assignment report
in a proper order.
2. The First Examiner is required to mark the comments in RED ink and the Second Examiner’s
comments should be in GREEN ink.
3. The marks for all the questions of the assignment have to be written only in the Component –
CET B: Assignment table.
4. If the variation between the marks awarded by the first examiner and the second examiner lies
within +/- 3 marks, then the marks allotted by the first examiner is considered to be final. If the
variation is more than +/- 3 marks then both the examiners should resolve the issue in
consultation with the Chairman BoE.

Assignment-2

Term - 2
Instructions to students:

1. The assignment consists of 3 questions: Part A – 1 Question, Part B- 2 Questions.

2. Maximum marks is 25.
3. The assignment has to be neatly word processed as per the prescribed format.
4. The maximum number of pages should be restricted to 20.
5. Restrict your report for Part-A to 3 pages only.
6. Restrict your report for Part-B to a maximum of 17 pages.
7. The printed assignment must be submitted to the course leader.
8. Submission Date:
9. Submission after the due date is not permitted.
10. IMPORTANT: It is essential that all the sources used in preparation of the assignment must be
suitably referenced in the text.
11. Marks will be awarded only to the sections and subsections clearly indicated as per the
problem statement/exercise/question
2
Preamble
This course imparts the skills for analytical design and analysis of continuous time control systems. The students
will be trained on necessary mathematical tools for control system analysis and design in time and frequency
domain. Students will be taught about mathematical modelling of linear systems, design and analysis of systems
for given specifications and tune the controller for stable system operation. Students will be trained on the
modeling and simulation of linear systems and design and analysis of controllers using MATLAB.

Part -A (05 Marks)

The smart vehicle control or automation includes various features such as velocity match between vehicles,
speed control or breaking mechanisms etc. The technologies for these smart vehicle operation demands a
proper choice of control technique.

In this context, develop an essay on: “Pivotal role of control systems in automated vehicles.”
Your essay should address the following:
A1.1 Existing autonomous vehicles with their features
A.1.2 Typical role of control system for the features listed in A1.1
A.1.3 Conclusion

Part B (20 Marks)

B .1 (3+4+3=10 Marks)
Consider a self-balancing motor cycle balanced by a robot. The interesting fact is that the motorcycle should stay
upright on its own while in standstill and at low speed. For stable operation, the wheel base can be lengthened.
The details are given below:
 The vehicle should move in a straight line with a constant velocity 𝑣
 𝜑 is the angle between the plane of symmetry of the motorcycle and the vertical axis, with the desired
angle 𝜑𝑑 (𝑠) = 0.
 The motorcycle transfer function is given by:

1
𝐺(𝑠) =
𝑠2− 𝛼1
Where, 𝛼1 = 𝑔/ℎ, 𝑔 = 9.8 𝑚/𝑠 2 , and ℎ is the height of the motorcycle center of gravity above the ground.
𝛼2 + 𝛼3 𝑠
𝐺𝑐 (𝑠) =
𝜏𝑠 + 1
𝑣2
Where, 𝛼2 = ℎ𝑐 , 𝛼3 = 𝑣𝐿
ℎ𝑐
, 𝜏 = time constant of the controller.

Figure 1 3
The complete block diagram is shown in Figure 1. For the given self-balancing motorcycle, perform the
following:
B1.1 Compute the values of 𝛼1 , 𝛼2 , 𝛼3 for the selected motorcycle.
B1.2 Tune the values of proportional and differential gain (𝐾𝑝 𝑎𝑛𝑑 𝐾𝑑 ) using root locus.
B1.3 Comment on the time – response characteristics

Note: Contact course leader for the selection of vehicle and the values of ℎ, 𝜏, 𝑣, 𝐿, 𝑎𝑛𝑑 𝑐.

B .2 (5+3+2=10 Marks)
The engraving machine shown in Figure 2 uses two drive motors and associated lead screws to position the
engraving scribe along the 𝑦 axis. Separate motors are used for both the 𝑥 and 𝑧 axes, as shown in Figure 2. The
block diagram model for the 𝑦 −axis position control system is shown in Figure 3.
Figure 2

Figure 3
B 2.1 Obtain the value of ‘K’ using any frequency response technique such that the time response is
within ‘x’ seconds.
B 2.2 Simulate and analyze the value of ‘K’ using a standard simulation tool.
B 2.3 Justify the selection of frequency response technique and comment on the stability.
Note: Contact course leader for the value of ‘x’.

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