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EXAMINATION PAPER
Session - 2019/2020
Faculty of Computing, Engineering and Media
Module Code - ENGD3838
Module Title - Dynamics and Control
Date – XX/XX/2020
Time Allowed - 3 hours
Start: 14:00hrs Finish: 17:00hrs
_________________________________________________________
Instructions and information for candidates:
Attempt TWO questions from Section A and TWO questions from
Section B
Total marks achievable =100
Programmable calculators are permitted during this examination
provided they are ‘reset’ using the reset button found on the underneath
of some calculators, ‘cancelled’ (by battery removal) or otherwise
checked and proved not to carry textual information, or formulae
required by the examination, other than normal scientific/statistical
functions.
Please turn over…
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SECTION A
Attempt TWO questions from this section
A1. A counter-rotating eccentric mass exciter shown in Figure A1.1 is used to determine the
vibrational characteristics of a structure of mass 181.4 kg. At a speed of 900 rpm, a stroboscope
shows the eccentric masses to be at the top at the instant the structure is moving upward through
its static equilibrium position, and the corresponding amplitude is 21.6 mm. If the unbalance
of each wheel of the exciter is 0.0921 kgm,
Determine;
a) The undamped natural frequency of the structure, [04 marks]
b) Calculate the damping ratio (𝜁) of the structure, [08 marks]
c) The vibration amplitude at 1200 rpm, [08 marks]
d) The angular position of the eccentrics at the instant the structure is moving upward
through its equilibrium position at 1200 rpm. [05 marks]
Hint - The magnification factor (MF) for a rotating imbalance system (mass M) with an
unbalance of me kgm and system’s displacement response phase lag ( ) are given below.
𝑀𝑋 𝑟2 2𝜁𝑟
𝑀𝐹 = = 𝜑 = 𝑡𝑎𝑛−1 ( )
𝑚𝑒 √(1−𝑟 2 )2 +(2𝜁𝑟)2 1−𝑟 2
x(t)
x(t)=0
Figure A1.1. Structure with eccentric masses
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A2. Consider the undamped system of Figure A2.1. Using coordinates 𝑥1 and 𝑥2 measured
from the inertial reference,
Determine;
a) The differential equations of motion for two masses, [6 marks]
b) Derive the frequency equation and determine the natural frequencies for the trolley-
spring system, [8 marks]
c) Determine the system’s modes of vibration in terms of the trolleys amplitude ratios
𝑋1
when n= 0.5, i.e. ⁄𝑋 , [6 marks]
2
d) Draw the normal mode shapes of the system when n = 0.5 and discuss whether they
are in phase or out of phase. [5 marks]
Figure A2.1. 2-DOF system
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A3. Each of the identical wheels shown in Figure A3.1 has a mass of 4 kg and a radius of
gyration 𝑘𝑧 =120 mm and is mounted on a horizontal shaft AB secured to the vertical shaft at
O.
In Figure A3.1 (a),
• The horizontal shaft is fixed to a collar at O which is free to rotate about the vertical
y-axis.
In Figure A3.1 (b),
• The shaft is secured by a yoke hinged about the x-axis to the collar. Therefore, it can
be rotated freely about the x-axis. Also, it is free to rotate about the vertical y-axis.
Each of the wheel has an angular velocity 𝑝 = 3600 𝑟𝑒𝑣/𝑚𝑖𝑛 about its z-axis in the position
shown. Neglect the small mass of the shaft and fitting at O. If the wheel has a large angular
velocity about its z-axis in the position shown,
Determine;
a) Any precession direction and angular precession velocity (rad/s) value which occurs in
each case, [09 marks]
b) The bending moment magnitude 𝑀𝐴 in the shaft at point A for each case, [12 marks]
c) Draw the direction of the moment applied on the shaft at point A for each case.
[04 marks]
Figure A3.1.
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SECTION B
Attempt TWO questions from this section
B1. A hard disk drive (HDD) is a data storage device for storing and retrieving digital
information. The data are read and written to tracks on the magnetic disk as illustrated in
Figure B1.1 by a head slider placed on the arm controlled by the actuator motor.
(a) (b)
Figure B1.1.
a) Consider the HDD header positioning system illustrated in the Figure B1.1 and
identify the objective, controlled variable, control variable and disturbances to the
system. [04 marks]
b) Identify the function of a HDD header position control system and draw the complete
block diagram for closed loop system. Discuss the function of each block. Derive the
closed loop gain for the control system using suitable variables. [10 marks]
c) In older versions of HDDs, a stepper motor was used as an actuator working in an
open-loop structure. In modern HDDs the actuator uses the ‘voice coil’ shown in
Figure B1.1 (b) and works in the closed-loop structure. Explain the properties of these
two control implementations in the context of the disk drive. [06 marks]
d) If an open loop system is unstable, will applying feedback always improve the
stability? Write down your answer with explanations.
[05 marks]
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B2. Consider the following second order system given by Figure B2.1. This figure represents
a torsional plant with a proportional controller. The feedback control system composed of a
unity feedback gain.
• Case 1 - A disturbance signal 𝐷(𝑠) is added to the output of the plant.
• Case 2 - Assume the added disturbance signal to the system is negligible (𝐷(𝑠) ≈ 0)
and 𝐾𝑝 =1.
Determine;
a) Complementary sensitivity function and sensitivity function for Case 1.
[04 marks]
b) Steady state error of the control system in Case 2 due to a unit step input.
[06 marks]
c) Find the overshoot and settling time of the system given in Case 2 if it represents an
under-damped with a unit step input. [06 marks]
d) Find the roots of the characteristic equation and describe the effect of the proportional
controller gain to the stability of the system given in Case 2.
[09 marks]
Figure B2.1.
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B3. Figure B3.1 shows a feedback control system. The characteristic equation of this system
is given in Equation 1.
Figure B3.1.
𝑠(𝑠 + 5)(𝑠 + 6)(𝑠 2 + 2𝑠 + 2) + 𝐾(𝑠 + 3) = 0 ------------ (1)
𝐾×𝑄(𝑠)
a) Arrange the characteristic equation in the 1 + = 0 format, [02 marks]
𝑃(𝑠)
b) Find the values for the complex variable s at K=0 points and K=∞ points of the
G(s)H(s),
[04 marks]
c) Find the asymptotes of the root loci when 𝑠 → ∞ and determine the centroid of the
asymptotes,
[08 marks]
d) Find the angles of departure near poles and zeros of G(s)H(s),
[06 marks]
e) Draw the root loci for the system when K goes from 0 to +∞.
[05 marks]
