ME 304 CONTROL SYSTEMS

Spring 2012 Sections 01, 02, 04

Course Instructors: Dr. Tuna Balkan, Dr. Bura Koku, Dr. Yiit Yazcolu

MIDTERM EXAMINATION II Solutions April 30, 2012 Time Allowed: 100 minutes Open Notes and Books All questions are equally weighted

Student No. : .. Name : SURNAME : .. Signature : ..

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PROBLEM 1 Part of a hydraulic power-steering unit is Drain Supply Drain shown in the figure with its block diagram representation. The input spool displacement x, opens the valve and the hydraulic oil is directed to one side of the Sleeve y power cylinder. Note that, when the valve Spool is opened, the sleeve of the spool valve, Valve x which is rigidly connected to the piston of Spool the power cylinder, tends to close the Flexible valve opening. The compressibility of the y Hose Q Q oil, leakage flow in both valve and power Load m cylinder, and friction are neglected. pL Fd Power Cylinder represents differential load pressure (fixed) Area, A across the piston of power cylinder. a) Find the transfer functions G YX , G YFd , G PLFd . b) Design an open-loop controller such that the disturbance force Fd does not affect the output. Unfortunately, the load force cannot be measured, but differential load pressure pL is available. c) Complete the given block diagram representation by adding the open loop control strategy.
K 2 Fd(s) mK 2s 2 + A 2s + AK1 As + K1 AK1

X(s) +

K1

Q(s)

1 K2

Fd(s) PL(s) A F(s)+ A

1 ms

1 s

Y(s)

Solution: a) From the block diagram the following equations can be written. Net force on piston : F(s)=APL(s) Spool Valve : Q(s)=K1[X(s)Y(s)]K2PL(s) Continuity : Q(s)=AsY(s) Newtons 2nd law : F(s)Fd(s)=ms2Y(s) 4 Equations in 4 unknowns (Q, F, Y and PL) AK1 K 2 Y(s) X(s) + Fd (s) 2 2 2 mK 2s + A s + AK1 mK 2s + A 2s + AK1 K 2 AK1 As + K1 ., G YFd (s) = and G PL Fd (s) = G YX (s) = 2 2 2 2 2 mK 2s + A s + AK1 mK 2s + A s + AK1 mK 2s + A 2s + AK1 K 2 AK1 b) = ,= = G d (s) G G u (s) G = YX (s) YFd (s) 2 2 2 mK 2s + A 2s + AK1 mK 2s + A s + AK1
G (s) K 2 G o (s) = d = G u (s) AK1

c) Instead of disturbance input Fd, load pressure PL is known. So, PL (s) =

mK 2s 2 + A 2s + AK1 Fd (s) As + K1

ME304(Sections01,02,04)/12S/MT2/Balkan,Koku,Yazcolu

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PROBLEM 2 A dynamic system has a plant transfer function given by () =

2 +1 2 (1 +1) 1

. This system is going to

be controlled by a PID controller with transfer function () = + + . The sensor that will be used in this system has a transfer function () = . Answer the following questions given that both the plant and the sensor has unit gain with the plant having a time constant of 10 s. Also, the sensor is selected such that it is 10 times faster than the plant.

a) What is the steady state error of the closed loop system for unit acceleration input? b) What is the condition for the controller parameters so that the closed loop system is stable? Solution: The gains are K1 = K2 = 1 and the time constants are T1 = 10 s and T2 = 1 s. Therefore the plant and sensor transfer functions are: () =
(10+1) 1

a) The open loop transfer function is () () = () ()() = 2 + + 2 + + 1 1 = (10 + 1) + 1 2 ( + 1)(10 + 1)

() =

+1

This is a type-2 system and it will have zero steady state error for step and ramp inputs. However, it will have a finite error for acceleration inputs. For acceleration input: =
1

where

b) The closed loop transfer function is

= lim0 2 ()() =

According to Hurwitz test: + 1 > 0 > 0

2 + + ( + 1) 2 + + () () 2 (10 + 1) = = = 2 + + () 1 + ()() 10 4 + 11 3 + ( + 1) 2 + + 1+ 2 ( + 1)(10 + 1) > 0.

According to the Routh Criterion for a fourth order denominator polynomial as below:

() = 4 4 + 3 3 + 2 2 + 1 + 0 where 4 = 10 3 = 11

ME304(Sections01,02,04)/12S/MT2/Balkan,Koku,Yazcolu

2 = + 1

1 =

0 = .

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s4 s3 s2
1

4 3

2 1 0

s0

3 2 4 1 1 3 0 3 4 1 3 2 3 0

3 2 4 1 3

Therefore for a stable system the following conditions must hold for the system parameters: 3 2 > 4 1 and 1 2 3 > 4 1 2 + 3 2 0 and 0 > 0 > 0

which implies, 11( + 1) > 10

with the additional Hurwitz conditions > 1 > 0.

11 ( + 1) > 10 2 + 121

ME304(Sections01,02,04)/12S/MT2/Balkan,Koku,Yazcolu

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PROBLEM 3 During the last month, playing with his birthday present, Alonzo excelled in controlling the speed of his toy car that, he now can apply a step input to his car! In the meantime Alonzos geeky engineer father hacked the car to measure velocity and capacitor voltage. Recall that: While pushed around, Alonzos car charges the capacitor C, that is attached to an electric motor which M
Electric Motor Capacitor

v(t)

is connected to one of the axles of the car via a gearbox (M = n.W) as shown in the figure. The voltage across the capacitor is given as e(t). Armature resistance of the electric motor is R and the inductance is negligible. The torsional damping coefficients effective on the motor and gearbox output are bM and bGB, back emf and torque constants are Kb and Kt respectively.
Wheel

n
Gearbox Wheel

Hint: Note that the input to the system is still kinematic.

v(t)

According to Alonzos fathers measurements, Alonzo can surprisingly apply a step velocity input of () = . / to the car. In response to this input capacitor voltage is measured as () = [ ](). In answering the following questions show all the steps leading to the answer. a) For how long should Alonzo apply this step input so that the capacitor charges over 99% of its final value? Recall that the response of a first order to a step input of size x0 is: () = 0 1 (), we have () = [5 5 4 ](), given that 0 is step size which is 0.5 Hence, K = 10 and T = 0.25. In order to reach more than 99% of the final value 5T has to pass where 5T = 1.25 secs. b) Given the step response of the system, find the transfer function () =
() = [5 5 4 ]() is for step input, not Unit step. Make it unit step! () = [10 10 4 ]() () = () = [40 4 ]() () =
() ()

c) Find the unit ramp response of the system.

+4

40

0.25+1

10

() = [5 5 4 ]() is for step input, not Unit step. Make it unit step! () = [10 10 4 ]() () = () () = [10 + 2.5 4 2.5]() 0

d) After applying the step response by pushing the car forward, Alonzo stops the car and let it go. Will the toy move forward or backward? Briefly justify your answer. During the discharge of the capacitor current will change direction hence the car should go backwards.

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