NATIONAL UNIVERSITY OF SINGAPORE

EXAMINATION FOR
(Semester I: 2010/2011)

EE3302/EE3302E INDUSTRIAL CONTROL SYSTEMS

November/December 2010 - Time Allowed: 2 Hours

INSTRUCTIONS TO CANDIDATES:
1. This paper contains FOUR (4) questions and comprises FIVE (5) pages.
2. Answer all questions.
3. All questions carry equal marks.
3. This is a CLOSED BOOK examination. However, each student may bring ONE (1) A4
size crib sheet into the examination hall

EE3302/EE3302E Industrial Control Systems/ Page 2

Q.1

In a production factory, a simple elevator is to be used to transfer materials from a

lower to the upper floor as shown in Fig 1. The elevator will travel between two
extreme positions corresponding to the lower floor and upper floor. S1 and S2 are
proximity sensors which will turn on when the elevator is at the lower and upper level
respectively.
There is a control panel containing a pushbutton (G) at the lower floor to command
the elevator to proceed to move up after the loading of materials is done. The elevator
will then move to the upper floor for the materials to be unloaded. There is a control
panel containing a pushbutton (R) to signal that the unloading has been completed
and to command the elevator to return to the home position at the lower floor. The
elevator is actuated by a motor to move in the up or down direction via the UP and
DOWN inputs to the motor.

Fig. 1

(a)

Provide a diagram to show the physical connections of the PLC.

(5 marks)

(b)

Provide a Sequential Function Chart for the sequence control.

(8 marks)

(c)

Provide a ladder program to implement the logic.

(8 marks)
Finally, include a non-repeat locking feature to disallow commands due to the R
and G push buttons continuously actuated (i.e., the buttons have to be released and
actuated to issue the next command).
(4 marks)

EE3302/EE3302E Industrial Control Systems/ Page 3

Q2
(a)

Explain the main characteristics which can be used to identify a cascade control
system.
(3 marks)
Provide two block diagrams to show the differences between a series and a parallel
cascade control system.
(4 marks)

(b)

Fig. 2 shows the block diagram of a process with input u, primary output y and a
secondary output v (both v and y).
If v is known to be affected by a disturbance w which cannot be measured, draw a
block diagram of an advanced control scheme for the process.
(4 marks)
Explain why it can be effective.
(5 marks)
Explain how this controller should be designed/tuned. If a plain proportional gain is to
be used for any controller needed, design any control gain to give closed-loop
stability.
(9 marks)
u
v
y
1
1
G1 ( s ) = 2
G2 ( s ) =
s + 3s + 2
s + 0 .2

Fig. 2

EE3302/EE3302E Industrial Control Systems/ Page 4

Q.3

Consider the unit step response of a process in Fig. 3a.

1

0.9

0.8

0.7

y(t)

0.6

0.5

0.4

0.3

0.2

0.1

Time (s)

Fig. 3a
(a)

Using the Ziegler-Nichols step response method, find K c and Ti of the PI controller

U ( s)
1

= Gc ( s ) = K c 1 +
E ( s)
sT
i

(5 marks)
(b)

Using the area method, find K p , Ti and L for the first-order plus dead-time model
given as

K e sL
Y ( s)
= G p (s) = p
U ( s)
sT + 1
(10 marks)
(c)

The controller Gc ( s ) and the process G p (s ) found in Parts (a) and (b) respectively are

connected as shown in Fig. 3b. For a unit step change in r (t ) , give the values of the
control signal, u (t ) , at (i) t = 0 + and (ii) t = . Assume that all initial conditions are at
zeros and there is no need to show working.
(10 marks)

R(s)

E (s)
+_

Gc (s )

U (s )

Fig. 3b

G p (s )

Y (s)

EE3302/EE3302E Industrial Control Systems/ Page 5

Q.4

The output of the continuous time PID controller is given as

u (t ) = P (t ) + I (t ) + D(t )
where
P ( t ) = K c e( t )
K t
I (t ) = c e(t )dt
Ti 0
T dD(t )
dy (t )
D (t ) = d
K c Td
N dt
dt
The error signal and process output are given by e(t ) and y (t ) respectively. K c , Ti , Td
and N are controller parameters. The digital implementation of the proportional
controller, P (t ) , is given as
P ( t k ) = K c e( t k )
where t k denotes the sampling instant.

(a)

Derive the digital implementation of the integral controller I (tk ) .

(10 marks)

(b)

Derive the digital implementation of the derivative controller D(t k ) .

(10 marks)

(c)

Give the computer code for the digital implementation of the PID controller
(5 marks)

END OF PAPER