NATIONAL UNIVERSITY OF SCIENCE AND TECHNOLOGY

FUCULTY OF INDUSTRIAL TECHNOLOGY

TEE 3241 Control Engineering

1. A simple mass spring friction system is shown in figure Q1. Consider the force P to be the input and the displacement
y to be of mass M to be the output of the system. Determine the transfer function.

Figure Q1

2. Figure Q2 shows a dc shunt wound generator rotating at a constant speed, with a signal voltage applied to its field
winding. Derive the transfer function.

Vi(t) Vo(t)
Lf

Figure Q2

3. For the geared system shown in figure Q3, find the transfer function relating the angular displacement θL to the
input torque T1 where J1, J2, J3 refer to the inertia of the gears and corresponding shafts. N1, N2, N3 and N4 refer to the
number of teeth on each gear wheel.

Figure Q3

4. Obtain the transfer function of the two phase servomotor shown in figure Q4. The maximum voltages for both
phases are 115V. The torque speed curve is also shown.

Figure Q4

5. The liquid level control system maintains the required level of the liquid in the container. The automatic controller
compares the actual level with the desired level and corrects the differences by adjusting the opening of the
pneumatic valve. A schematic diagram of the control system is shown in figure Q5. Draw the corresponding block
diagram for the system.

Figure Q5

6. Determine the closed loop transfer function for the system whose block diagram is shown in figure Q6.

Figure Q6

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7. From the block diagram shown in figure Q7, determine the overall transfer function.

Figure Q7

8. A flywheel driven by an electric motor is automatically controlled to follow the movement of a hand wheel. The
inclusive moment of inertia of the flywheel is 150kgm2 and the motor torque applied to it is 2400Nm per radian of
misalignment between the flywheel and the hand wheel. The viscous friction is equivalent to a torque of 600Nmrad -
1
s. If the hand wheel is suddenly turned through 60˚ when the system is at rest, determine an expression for the
subsequent angular position of the flywheel in relation to time.

9. A servomechanism designed to position rotating aerial consists of a geared motor and an amplifier driven by the
difference between a reference voltage and the feedback voltage from a position transducer. In an open loop test
(i.e. without feedback), a steady state voltage of 1V applied to the amplifier input produced a steady state aerial
speed of 2rpm. Given that the sensitivity of the position transducer is 250mV per degree of error position, find the
closed loop steady state error when the servo demand input is changing at a rate of 2˚ per second.

2
Rt
10. Determine the steady state error due to a parabolic input described by u s (t).
2

11. Apply the Routh-Hurwitz criterion on the equation 2 s 4 + s3 +3 s2 +5 s +10=0.

12. In the system represented by the block diagram shown in figure Q12, can we select K such that the system is stable
and has a 10% steady state error for a unit ramp input (i.e. Kv = 10sec-1)?.

R(s) C(s)
+
K
-

Figure Q12

s +2
13. A rocket guidance device has a transfer function G p ( s )= 2 . The device is controlled by an
( s+ 4)(s +2 s+5)
K
integrating amplifier represented by G c ( s )= in a closed loop, unity feedback system. The gain parameter K is
s
adjustable.
a) For what range of K is the system stable?
b) When the system becomes marginally stable, at what frequency does it oscillate and what are the positions of
the four poles in the s-plane when this occurs?
c) If K is chosen to give a gain margin of 4, what is the resulting velocity constant of the system?

14. A 3-term controller is described by the equation θc ( t )=20 ¿, where e(t) is the system error, θc(t) is the controller
output, Tr is the reset time, Td is the derivative time. This controller is used to control a process with the transfer
40
function G ( s )= 2 . Unity feedback is used.
10 s + 80 s +800
a) If integral action is not enlarged, find the derivative time required to make the closed loop damping ratio unity.
b) If this value of derivative time is maintained, determine the minimum value of reset time that can be used
without instability arising.

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15. The block diagram shown in figure T15 represents a laser guided missile. You are to conduct a feasibility study to
evaluate various forms of control action.

Missile
dynamics
Controller Fin
dynamics
θD(s) θA(s)
+
Gc(s)
-

Figure T15

a) Initially proportional control is to be considered. Using asymptotes only, construct the root locus diagram and
give reasons why it would be unsuitable.
b) An open loop zero is now introduced at s = -2. Again construct the root locus diagram using asymptotes and
comment on the suitability of the system.
c) Open loop zeros at s = -2 and s = -3 are now introduced. Demonstrate that at s =-2.45 the complex loci join the
real axis prior to terminating at the open loop zeros. Show also that a trial point on the locus exists when jω =
1.45 and the damping ratio is 0.7. Sketch the root locus diagram and evaluate the controller gain that
corresponds to a damping ratio of 0.7.

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