UNIVERSITI TUN HUSSEIN ONN

MALAYSIA

ASSIGNMENT
SEMESTER 1
SESSION 09/10

SUBJECT : CONTROL SYSTEM

SUBJECT CODE : BEE 3143

COURSE : 3 BER / BEM / BET / BEP

DUE DATE : 16 OCTOBER 2009 BEFORE 12.00 NOON

INSTRUCTIONS : • ANSWER ALL QUESTIONS PART 1

AND QUESTION PART II
• ALL ANSWERS MUST BE TYPE IN
ENGLISH.
• THE SIMULATION RESULTS ARE
MANDATORY AND MUST BE
PRESENT CLEARLY WITH THE CODES
OR THE SIMULATION BLOCKS.
• SEND THE SOFTCOPY AND
HARDCOPY BEFORE THE DUE DATE.
rdtdretert • PENALTY WILL BE IMPOSED FOR THE
LATE SUBMISSION

THIS PAPER HAS17 PAGES

PART
 PART I

Q1 The pitch stabilization loop for F4-E military aircraft is shown in Figure 0. δcom is
the elevator and canard input deflection command to create a pitch rate. If
−508( s + 1.6 )
G2 ( s ) =
( s + 14 )( s − 1.8 )( s + 4.9 )

Do the following:
(a) Draw the root locus of the inner loop and compare your result with
MATLAB SIMULINK or M-FILE.
(b) Find the range of K2 to keep the inner loop stable with just pitch-rate
feedback. Validate your answer with MATLAB.
(c) Find the value of K2 that places the inner-loop poles to yield a damping
ratio of 0.5. Validate your answer with MATLAB.
(d) For your answer in (c), find the range K1 that keeps the system stable.
(e) Draw the root locus of the overall system and find the values of K1 yields
closed-loop poles with damping ratio of 0.45. Validate your answer with
MATLAB.
(total marks Q1=30 marks)

Pitch command, δcom (s) Pitch rate Pitch,

θc(s) + + 1 θ(s)
K1 K2 G2(s) s
- -

Figure 0: F4-E pitch stabilization loop

2
Q2 Consider the simplified form of the block diagram for position servomechanism
used in an antenna tracking system as shown in Figure 1.

Figure 1

Based on the Figure 1

(a) Obtain the open-loop transfer function of the system.

(b) Draw the Bode diagram using asymptote approximation or straight line
approximation for the magnitude and phase of the open-loop transfer
function for K= 0.5.
(c) From bode diagram Q2(b), estimates the gain and phase margins for the
system and determine the stability of the system.
(d) By using MATLAB SIMULINK or M-FILE, simulate the system and
compare the simulation results with results on Q2 (b) and Q2(c). What is
your observation?

(total marks Q2=30 marks)

3
Q3 This question consists of three parts.

Part A (DC motor basic architecture)

A common actuator in control systems is the DC motor. It directly provides rotary motion
and, coupled with wheels or drums and cables, can provide transitional motion. The
electric circuit of the armature motor with gear is shown in the Figure 2 and torque-speed
curve is shown in Figure 3:
Ra

ia(t) θm(t),ωm(t),Tm(t)

+
+ Va(t) eb(t) Jm, Bm N1
-
- θL(t)
N2 JL, BL

Figure 2

T m(N-m)

100 TmRa + KbKtωm = KtVa

Va = 50 V

ω (rad/s)
200

Figure 3

Assume the following values for the physical parameters.

• Moment of inertia of the motor (Jm) = 2 kg-m2 and the load (JL) = 16 kg-m2
• Damping ratio of the mechanical system (Bm) = 2 N-m-s/rad and (BL) = 38 N-m-
s/rad
• N1 = 50 and N2 = 100
• Back emf constant : Kb
• Motor torque constant : Kt

(a) Derive the transfer function that relates output and input.
4
(b) Draw the block diagram of Q3 Part A (a).

(total marks Q3 part A=10 marks)

Part B (DC motor application)

The DC motor (in part a) will be used in three-axis articulated arm pick and place robot
for computer integrated manufacturing (CIM) system. The three axes are simultaneously
controlled, and driven by this DC motor. The movement of each axis must respond with
fast acceleration, deceleration and reasonable precision. We have to design a robot such
as this one, and that one of the axes can be represented by the block diagram as shown
below:

Amplifier
θi(s) + DC motor in θo(s)
Kp K1 part a
-

Kp

Figure 3

Where:

• Potentiometer constant (Kp) = 6 v/rad

• Input (θo): desire position
• Output (θo): actual position
• Amplifier (K1): variable gain controller

(a) Calculate the range of K1 for the system to remain stable.

(b) Find the system type and calculate the steady state error for step input.
(c) Calculate the possible value of K1 to acquire the fastest response without
overshoot, then find Tr and Ts. Key in this K1 value in MATLAB SIMULINK or
M-FILE and compare the simulation result value with your calculation.
(d) From the range obtained in Q3 Part B (a), find the possible value of K1 to obtain
10% of overshoot, thus find Tr , Tp and Ts. Key in this K1 value in MATLAB
SIMULINK or M-FILE and compare the simulation result value with your
calculation.
(e) From the result obtain in Q3 Part B (c) and Q3 Part B (d), conclude the
relationship between variable gain controller (K1) with Tr, Ts , Tp, ζ and %OS.

(total marks Q3 part B=20 marks)

5
 Part C (Reducing system overshoot)

The variable gain value in Q3 Part B (d) will be use in this section. Normally by
increasing gain value the overshoot will also increase. To overcome this problem there
are two possible solutions, one is by using magnetic brake and another one is by using
system velocity feedback. We interested to reduce overshoot by using the second method.

(a) Design the system to reduce overshoot in Figure 3 using velocity feedback if the
given tachometer has a constant value, Kg = 10K2 m v/rads-1, where K2 is the
variable gain that control amount of the velocity values that feedback to the
system. Show the block diagram of the system and explain how the tachometer
can be inserted to the system.
(b) Determine the transfer function of Q3 Part C (a).
(c) Velocity feedback can reduce overshoot for a positional control system, explain
how it is work.
(d) If K2 = 0.5, calculate the %OS, Tr , Tp and Ts for this system and compare the
result obtain using MATLAB SIMULINK or M-FILE.
(e) Calculate the percent of %OS reduction obtained by using this method.
(f) Determine the value of K2 that will totally eliminate the overshoot of the system
and then calculate Tr and Ts. Compare the result obtain using MATLAB
SIMULINK or M-FILE.
(g) What is the relationship of K2 with Tr, Ts , Tp, ζ and %OS .

(total marks Q3 part C=20 marks)

6
 PART II

Rules :
1. Answer the question using Matlab software only. No manual calculation is
allowed.

Q1 The block diagram of a control of an aircraft involving a pilot is shown in figure

below.
pilot elevator servo aircraft

+ -K(τ1s + 1)( τs – 2) -10 -(s + 5)

Θi (s) X (s Θo(s)
(τ2s2+ 1)( τs + 2) s +10 s(s2 + 3.5s +6)
desired - actual
attitude attitude

The variable τ represent the pilot time delay (time required to response to a
stimulus). We can represent the slower pilot with τ = 0.5 and a faster pilot with τ
= 0.25. The remaining variable in the pilot model to be K = 1, τ1 = 2, and τ2 = 0.2.
a) Develop a Matlab script to investigate the effect of the fast and slow pilots on
the system stability. When the script is executed the user can enter arbitrary
value of τ and the script produces the closed-loop system poles.
b) Comment on the results.
c) What is the range of pilot time delay allowable for the stability?
(total marks =10 marks)