Cairo University Spring 2020

Faculty of Engineering MDP410: Automatic Control

Mechanical Design and Production Dept.

Problem Set 1
Modelling - Revision

(a) Figure 1 shows a pneumatic controller. The pneumatic relay has the characteristic that pc=K pb, where K > 0. What kind
of control action does this controller produce? Derive the transfer function Pc(s)/E(s).

(b) Figure 2 is a schematic diagram of an aircraft elevator control system. The input to the system is the deflection angle Ѳ of
the control lever, and the output is the elevator angle Φ. Assume that angles Ѳ and Φ are relatively small. Show that for
each angle Ѳ of the control lever there is a corresponding (steady-state) elevator angle Φ.

Figure 1 Figure 2

(c) For the system shown in Figure 3, write the equations relating the piston displacement x to the air pressure P acting on the
bellows of area a. Draw the system block diagram, and then find its transfer function.

(d) Explain the operation of the speed control system shown in Figure 4 and determine the transfer function Y(s)/E(s)

Figure 3 Figure 4

MDP307: Modeling & Simulation of Dynamic Systems & Robotics Problem Set 05
(e) Figure 5 shows a liquid-level control system. The inlet valve is controlled by a hydraulic integral controller. Assume that
the steady-state inflow rate is Q and steady-state outflow rate is also Q, the steady-state head is H, steady-state pilot valve
displacement is X = 0, and steady-state valve position is Y. We assume that the set point R corresponds to the steady-state
head H. The set point is fixed. Assume also that the disturbance inflow rate qd, which is a small quantity, is applied to the
water tank at t = 0.This disturbance causes the head to change from H to H + h. This change results in a change in the
outflow rate by qo. Through the hydraulic controller, the change in head causes a change in the inflow rate from Q to Q +
qi. (The integral controller tends to keep the head constant as much as possible in the presence of disturbances.) We
assume that all changes are of small quantities.
We assume that the velocity of the power piston (valve) is proportional to pilot-valve displacement x, or 𝑑𝑦/𝑑𝑡 = 𝐾1 𝑥,
where K1 is a positive constant. We also assume that the change in the inflow rate qi is negatively proportional to the
change in the valve opening y, or qi = - Kv y, where Kv is a positive constant.
Assuming the following numerical values for the system, C=2 m2, R=0.5 sec/m2, Kv=1 m2/sec, a=0.25 m, b=0.75 m, K1=
4 sec–1 obtain the transfer function H(s)/Qd(s).

(f) The fan in Figure 6, having a moment of inertia J, is rotating in a viscous damping medium of coefficient C. This fan is
driven by an armature controlled system through a gear reduction stage. The system is controlled using a signal from a
potentiometer of constant kp, this signal is amplified and transmitted to the motor which drives the mechanical system.
Derive the governing equations of the system and draw its block diagram.

(g) For Figure 7, write the equations relating the output displacement x to the input current i. The current i passing in the
solenoid produces a force f = k.i. The moment of inertia of the lever about the hinge O is Io. Find the system transfer
function.

Figure 6

Figure 5

Figure 7

MDP307: Modeling & Simulation of Dynamic Systems & Robotics Problem Set 05