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EE6405 - Control System Engineering

TWO MARKS WITH ANSWERS

2014-2015
IV SEMESTER

DEPARTMENT
OF
ELECTRONICS AND COMMUNICATION ENGINEERING

MOOKAMBIGAI COLLEGE OF ENGINEERING


SRINIVASA NAGAR, KALAMAVUR –622 502.

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UNIT-1CONTROL SYSTEM MODELING

PART A ( 2 MARKS)

1. Write Mason’s gain formula

The overall gain or transfer function


k – no. of forward paths in the signal flow graph
Pk – forward path gain of kth forward path
∆ – 1- (sum of individual loop gains) + (sum of gain products of all possible
combinations of two non-touching loops) – (sum of gain products of all possible
combinations of three non-touching loops) + etc.,
∆k – ∆ for that part of the graph which is not touching kth forward path.

2. What is mathematical model of a system?


The set of mathematical equations describing the dynamic characteristics of the
system is called mathematical model of a system.

3. What do you meant by sensitivity of the control system?


Sensitivity is a measure of the effectiveness of feedback in reducing the
influence of variations on the system performance.

4. What is system?
When a number of elements or components are connected in a sequence to
perform a specific function is called a system.

5. What is control system?


When the output quantity is controlled by varying the input quantity, then
the system is called control system. The output quantity is called controlled variable or
response, the input quantity is called command signal or excitation.

6. What are the two major types of control systems?


Open loop control systems, and
Closed loop control systems

7. Define open loop and closed loop systems.

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Open loop system
Any physical system which does not automatically correct the variation in its
output is called an open loop control system.
Closed loop system
A system in which the controlling action or input is dependent on the output or
changes in output is called closed loop control system.

8. What is feedback? What type of feed back is employed in control system?


Feedback is a property of the system by which it permits the output to be
compared with input so that appropriate controlling action can be decided.
Negative feedback is employed in control systems.

9. Why negative feedback is preferred in control systems?


Negative feedback results in better stability in steady state and rejects any
disturbance signals. It also has low sensitivity to parameter variations. Hence,
negative feedback is preferred in control systems.

10. Name the two types of electrical analogous for mechanical system.
The two types of analogies for the mechanical system are force-voltage and
force-current analogy.

11. State principle of superposition theorem.


Superposition principle implies that if a system model has responses y1(t) and
y2(t) to any two inputs x1(t) and x2(t) respectively, then the system response to the
linear combination of these inputs a1x1(t) + a2x2(t) is given by the linear combination of
individual outputs, a1y1(t) + a2y2(t) where a1, a2 are constants.

12. What is time variant and Time invariant?


If the parameters of the system are varying with time, then the control system is
time-variant. Otherwise, system is time-invariant.
Example of time-variant: Space vehicle whose mass decreases with time as it leaves
earth.
Example of time-invariant: Different electrical networks consisting of resistance,
inductance and capacitance.

13. Define transfer function.


The transfer function of a linear time invariant system is defined as the ratio of
Laplace transform of the output variables to the Laplace transform of the input
variables under the assumption that all initial conditions are zero.
Transfer function = with zero initial conditions.

14. Distinguish between open loop and closed loop systems.

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Open loop system Closed loop system

Inaccurate and unreliable Accurate and reliable

Simple and economical Complex and costly

Changes in output due to external Changes in output due to external


disturbances are not corrected automatically disturbances are corrected automatically

Great efforts are needed to design a stable


They are generally stable system.

15. Write force balance equation of ideal spring, ideal mass.


Let a force F be applied to an ideal spring with spring constant K. The spring
will offer an opposing force SK which is proportional to displacement.
Let a force F be applied to an ideal mass M, the mass will offer an opposing force
SM which is proportional to acceleration.

16. What is signal flow graph?


A signal flow graph is a diagram that represents that represents a set of
simultaneous algebraic equations. By taking Laplace transform, the time domain
differential equations governing a control system can be transferred to a set of
algebraic equations in s-domain.

17. Define non-touching loop.


The loops are set to be non-touching if they do not have common nodes.

18. Write down force-voltage analogous equations relating the mechanical and
electrical system for a simple mars spring-damper system.
Mechanical system F(s) = M s2 X(s) + B s X(s) + K X(s)
V(s) = Ls2 Q(s) + R s Q(s) + 1/C Q(s) – force-voltage analogy.
I(s) = C s2 Φ(s) + 1/R s Φ(s) + 1/L Φ(s) – force-current analogy.

19. What are the two assumptions to be made while deriving transfer function of
electrical systems?
1. The system should be approximated by a linear lumped constant parameters
model by making suitable assumptions.

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2. It is assumed that there is no loading. i.e. no power is drawn at the output of
the system.

PART B ( 16 MARKS)

1. Write the differential equations governing the Mechanical system shown in fig .and
determine the transfer function. (16)
2. Determine the transfer function Y2(S)/F(S) of the system shown in fig. (16)
3. Write the differential equations governing the Mechanical rotational system shown
in fig. Draw the Torque-voltage and Torque-current electrical analogous circuits.
(16)
4. Determine the overall transfer function C(S)/R(S) for the system shown in fig. (16)
5. Obtain the closed loop transfer function C(S)/R(S) of the system whose block
diagram is shown in fig. (16)
6. For the system represented by the block diagram shown in fig. Determine
C1/R1and C2/R1.
7. Obtain the closed loop transfer function C(S)/R(S) of the system whose block
diagram is shown in fig. (16)
8. Find the overall gain of the system whose signal flow graph is shown in fig. (16)
9. Draw a signal flow graph and evaluate the closed loop transfer function of a system
whose block is shown in fig. (16)
10. Derive the transfer function for Armature controlled DC servo motor. (16)
11. Derive the transfer function for Field controlled DC servo motor. (16)

UNIT - 2 TIME RESPONSE ANALYSIS

PART A ( 2 MARKS)

1. What is time response?


The time response is the output of closed loop system of a function of time. It is
denoted by c(t). it is given by inverse laplace of the product of input and transfer
function of the system.
The close d loop transfer function, C(s)/ R(s) = G(s)/ 1+ G(s) H(s)
Response in s domain, C(s)=R(s)G(s)/1+ G(s) H(s)
Response in timedomain,c(t)=inverae L.T{ R(s)G(s)/1+ G(s) H(s)}

2. What is transient and steady state response?


The transient response is the response of the system when the input changes
from one state to another. The response of the system as t tends to infinity is called
steady state response.

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3. Name the test signals used in time response analysis.
Step signal, impulse signal, Ramp signal, parabolic signal, acceleration and
sinusoidal signals.

4. Define step signal.


The step signal is a signal whose value changes from zero to A at t= 0 and
remains constant at A for t>0.
r(t) = A, t ≥ 0
0, t < 0

5. Define Ramp signal and parabolic signal.


The ramp signal is a signal whose value increases linearly with time from an
initial value of zero at t=0.the ramp signal resembles a constant velocity.
r(t) = At, t ≥ 0
0, t < 0
Parabolic signal is a signal in which the instantaneous value varies as the square of
the timefrom an initial value of zero at t=0. The mathematical representation of
parabolic signal is
r(t) = t ≥ 0
0, t < 0

6. What is impulse signal?


A signal which is available for a very short duration is called impulse signal and
is denoted by

7. How is system classified depending on the value of damping?


Depending on the value of damping, the system is classified into following four
cases.
Case i) Un-damped system, ζ = 0
Case ii) Under-damped system,0< ζ < 1
Case iii) Critically damped system ζ = 1
Case iv) Over-damped system ζ > 1

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8. What is damped frequency of oscillation?
In under-damped system, the response is damped oscillatory. The frequency of
damped oscillation is given by ωd = ωn √(1- ζ2)

9. List the time domain specifications.


rise time, delay time, peak time, peak over shoot, Settling time.

10. Define rise time, delay time, peak time, peak over shoot.
• The time taken for response to reach 50% of final value for the very first time is
delay time.
• The time taken for response to raise from 0% to 100% for the very first time is
rise time.
• The time taken for the response to reach the peak value for the first time is
peak time.
• Peak overshoot is defined as the ratio of maximum peak value measured from
the Maxmium value to final value
• Settling time is defined as the time taken by the response to reach and stay
within specified error

11. What is steady state error?


The steady state error is defined as the value of error as time tends to infinity.

12. What are static error constants?


Positional error constant Velocity error constant Acceleration error constant

13. Define position, velocity and acceleration error constants.


Position error constant Kp = . The steady state error in type-0 system when the
input is unit step is given by .
The velocity error constant Kv = . The steady state error in type-1 system when
the input is unit ramp is given by .
The acceleration error constant Ka = . The steady state error in type-2 system
when the input is unit parabolic is given by .

14. What are generalized error constants?


They are the coefficients of generalized series. The generalized error series is
given by
e(t) = C0r(t) + C1dr(t)/dt + ( C2 / 2! ) dr2(t)/dt2 + ………….. + (Cn / n!)drn(t)/dtn…

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The coefficients C0, C1, C2,…,Cn are called generalized error coefficients or
dynamic error coefficients.

15. List the advantages of generalized error constants.


i)Steady state is function of time.
ii)Steady state can be determined from any type of input.

16. What are the effects of damping ratio on the time response of a second order
system?
The system breaks in to continuous oscillations for ζ = 0,as damping ratio is
increased, the response becomes progressively less oscillatory till it becomes critically
damped for ζ = 1 and becomes over damped for ζ >1.

PART B (16 MARKS)

1. (a) Derive the expressions and draw the response of first order system for unit step
input. (8)
(b) Draw the response of second order system for critically damped case and when
input is unit step. (8)
2. Derive the expressions for Rise time, Peak time, and Peak overshoot. (16)
3. A potential control system with velocity feedback is shown in fig. What is the
Response of the system for unit step input? (16)
4. Measurements conducted on a Servomechanism show the system response to be
c(t)=1+0.2 ê 60t-1.2 ê –10 t. when subjected to a unit step. Obtain an expression for
closed looptransfer function. (16)
5. A positional control system with velocity feedback is shown in fig. What is the
response c(t) to the unit step input. Given that ς =0.5.and also calculate rise time,
peak time, Maximum overshoot and settling time. (16)
6. A unity feedback control system has an open loop transfer function G(S) =
10/S(S+2). Find the rise time, percentage over shoot, peak time and settling time. (16)
7. A closed loop servo is represented by the differential equation, where c is the
displacement of the output shaft, r is the displacement of the input shaft and ( e= r-c)
Determine undammed natural frequency, damping ratio and percentage maximum
overshoot for unit step input. (16)
8. For a unity feedback control system the open loop transfer functionG(S) = 10(S+2)/
{S2 (S+1)}. Find (a) position, velocity and acceleration error constants.
(b) The steady state error when the input is R(S) where R(S) =3/S –2/S2 +1/3S3 (16)

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9. The open loop transfer function of a servo system with unity feedback system is
G(S) = 10/ S (0.1S+1).Evaluate the static error constants of the system. Obtain the
steady state error of the system when subjected to an input given by the polynomial
r(t) = a0 +a1t +a2 /2 t2 . (16)

Unit-3FREQUENCY RESPONSE ANALYSIS

PART A ( 2 MARKS)

1. What is frequency response analysis?


A frequency responses the steady state response of a system when the input to
the system is a sinusoidal signal.

2. What is Nichol’s chart?


Nichol’s chart is a frequency response plot of the open loop transfer function of
a system. It is a graph between magnitude of G(jω) in dB and the phase of G(jω) in
degree, plotted on a ordinary graph sheet.

3. What are the two contours of Nichols chart?


Closed loop contour and phase contour.

4. What are the advantages of Nichol’s chart?


The advantages are:
i) It is used to find closed loop frequency response from open loop frequency
response.
ii) The frequency domain specifications can be determined from Nichol’s chart.
iii) The gain of the system can be adjusted to satisfy the given specifications.

5. What is polar plot?


The polar plot of a sinusoidal transfer function G(jω) is a plot of the magnitude
of G(jω) versus the phase angle of G(jω) on polar or rectangular co-ordinates as ω is
varied from zero to infinity.

6. Define gain cross over frequency.


The gain cross over frequency ω gc is the frequency at which the magnitude of
the open loop transfer function is unity..

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7. Define Phase cross over frequency.
The frequency at which, the phase of open loop transfer functions is called
phase cross over frequency ωpc

8. Define Phase Margin.


The phase margin ,γ is the amount of phase lag at the gain cross over
frequency required to bring system to the verge of instability.

9. Define Gain Margin.


The gain margin,kg is defined as the reciprocal of the magnitude of the open
loop transfer function at phase cross over frequency. Gain margin kg = 1 / G(jωpc)

10. How do you calculate the gain margin from the polar plot?
The reciprocal of the magnitude of the open loop transfer function at phase
cross over frequency. Gain margin kg = 1 / G(jωpc)

11. How do you find the stability of the system by using polar plot?
Stability depends on the comparision of magnitudes of ωgc and ωpc.
ωgc<ωpc, G.M and P.M are positive, system is stable.
ωgc>ωpc, G.M and P.M are negative, system is unstable.
ωgc = ωpc, G.M and P.M are zerto, system is marginally stable.

12. What are the advantages of Bode plot?


The main advantages are:
i) Multiplication of magnitude can be in to addition.
ii) A simple method for sketching an approximate log curve is available.
iii) It is based on asymptotic approximation. Such approximation is sufficient if rough
information on the frequency response characteristic is needed.
iv) The phase angle curves can be easily drawn if a template for the phase angle
curve of 1+ jω is available.

13. List the Frequency domain specifications?


Frequency domain specification are i)Resonant peak. ii)Resonant frequency

14. What is minimum phase system?


A transfer function which has the least phase angle for a given magnitude curve
is called minimum phase system.
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15. What is non-minimum transfer function?
A transfer function which has one or more zeros in the right half s-plane is
known as non-minimum transfer function.

16. What is cut off frequency?


The frequency at which the magnitude | G(jω)| is 1/√2 times of its maximum
value is known as cut off frequency

17. What is Band width?


The bandwidth is the range of frequencies for which the system gain Is more
than 3 dbB. The bandwidth is a measure of the ability of a feedback system to
reproduce the input signal ,noise rejection characteristics and rise time.

PART B ( 16 MARKS)

1. Plot the Bode diagram for the following transfer function and obtain the gain and
phase crossover frequencies. G(S) = 10/ S(1+0.4S) (1+0.1S) (16)
2. The open loop transfer function of a unity feedback system is
G(S) = 1/ S(1+S)(1+2S) Sketch the Polar plot and determine the Gain margin and
Phase margin.
3. Sketch the Bode plot and hence find Gain cross over frequency, Phase cross over
frequency, Gain margin and Phase margin(S) = 0.75(1+0.2S)/ S (1+0.5S) (1+0.1S)
(16)
4. Sketch the Bode plot and hence find Gain cross over frequency, Phase cross over
frequency, Gain margin and Phase margin. G(S) = 10(S+3)/ S(S+2) (S2+4S+100)
(16)
5. Sketch the polar plot for the following transfer function .and find Gain cross over
frequency, Phase cross over frequency, Gain margin and Phase margin.
G(S) = 10(S+2)(S+4)/ S (S2 -3S+10) (16)
6. Construct the polar plot for the function GH(S) =2(S+1)/ S2. Find Gain cross over
frequency, Phase cross over frequency, Gain margin and Phase margin. (16)
7. Plot the Bode diagram for the following transfer function and obtain the gain and
phase crossover frequencies. G(S) =KS2 / (1+0.2S) (1+0.02S). Determine the
value of K for a gain cross over frequency of 20 rad/sec. (16)
8. Sketch the polar plot for the following transfer function and find Gain cross over
frequency, Phase cross over frequency, Gain margin and Phase margin.
G(S) = 400/ S (S+2)(S+10) (16)

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9. A unity feed back system has open loop transfer function G(S) = 20/ S(S+2)(S+5).
Using Nichol’s chart, determine the closed loop frequency response and estimate
all the frequency domain specifications. (16)
10. Sketch the Bode plot and hence find Gain cross over frequency, Phase cross over
frequency, Gain margin and Phase margin. G(S) = 10(1+0.1S)/ S(1+0.01S) (1+S).
(16)
11. Write the short notes on correlation between the time and frequency response?
(16)
12. What is compensation? Why it is needed for control system? Explain the types of
compensation? (16)
13. Realize the basic compensators using electrical network and obtain
the transfer function. (16)
14. Design a suitable lead compensators for a system with unity feedback and having
open looptransfer function G(S)= K/ {S(S+1) (S+4)} to meet the specifications.
(i)Damping ratio=0.5
(ii) Undamped natural frequency. Wn =2 rad/sec. (16)
15. A unity feed back system has an open loop transfer function G(S)= K/
{S(S+1)(0.2S+1). Design a suitable phase lag compensators to achieve following
specifications Kv= 8 and Phase margin 40 deg with usual notation. (16)
16. Explain the procedure for lead compensation and lag compensation? (16)
17. Explain the design procedure for lag- lead compensation. (16)
18. Consider a type 1 unity feed back system with an OLTF Gf(S) =K/{S (S+1) (S+4)}.
The system is to be compensated to meet the following specifications Kv> 5sec
and PM>43 deg. Design suitable lag compensators (16)

UNIT- 4 STABILITY ANALYSIS

PART A ( 2 MARKS)

1. State Nyquist stability Criterion.


If the Nyquist plot of the open loop transfer function G(s) corresponding to the nyquist
control in the S-plane encircles the critical point –1+j0 in the counter clockwise
direction as many times as the number of right half S-plane poles of G(s),the closed
loop system is stable.

2. What is root locus?


The path taken by the roots of the open loop transfer function when the loop gain is
varied from 0 to α are called root loci.

3. What is the necessary condition for stability?


The necessary and sufficient condition for stability is that all of the elements in the first
column of the routh array should be positive.
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4. What is characteristic equation?
The denominator polynomial of C(s)/R(s) is the characteristic equation of the system.

5. How the roots of characteristic are related to stability?


If the roots of the characteristic equation has positive real part, then the impulse
response of the system is not bounded, hence the system will be unstable. If the roots
has negative real part, then the impulse response is bounded, hence the system is
stable.

6. Define stability.
For a bounded input signal, if the output has constant amplitude oscillations may be
stable.

7. What do you mean by dominant pole?


The dominant pole is a pair of complex conjugate poles which decides the transient
response of the system. In higher order systems, the dominant poles are very close to
origin and all other poles of the system are widely separated and so they have less
effect of transient response of the system.

8. What are break away points?


At break away point, the root locus breaks from the real axis to enter into the complex
plane. To find break away points, from an equation for K from the characteristic
equation and differentiate the equation of K with respect to s. Then find the roots of
the equation dK/ds = 0.

9. How will you find the root locus on real axis?


To find root locus on real axis, choose a test point on real axis. If the total number of
poles and zeros on the real axis to the right of this test point is odd number, then the
test point lies on the root locus. If it is even, then the test point does not lie on the root
locus.

10. What is centroid? How the centroid is calculated?


The meeting point of asymptotes with real axis is called centroid. The centroid is given
by

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11. State BIBO stability criterion.
A linear relaxed system is said to have BIBIO stability if every bounded input results in
a bounded output.

PART B ( 16 MARKS)
1. Using Routh criterion, determine the stability of the system whose Characteristics
equation is S4+8S3+18S2+16S+5 =0. (16)
2. F(S)=S6 +S5-2S4-3S3-7S2-4S1-4 =0.Find the number of roots falling in the RHS
plane and LHS plane. (16)
3. Draw the Nyquist plot for the system whose open loop transfer function is
G(S) H(S) =K/{S (S+2) (S+10)}.Determine the range of K for which closed loop
System is stable. (16)
4. Construct Nyquist plot for a feedback control system whose open
loop transfer function is given by G(S)H(S) =5/ S(1-S).comment on the stability of
open loop and closed loop transfer function. (16)
5. Sketch the Nyquist plot for a system with the open loop transfer function G(S)H(S)
=K({1+0.5S) (1+S)} /{ (1+10S) (S-1)). Determine the range of values of K for which
the system is stable. (16)

Unit- 5 STATE VARIABLE ANALYSIS

PART A ( 2 MARKS)

1. What is sampled data control system?


In a control system,if the signals in any part of the system is discrete then the entire
system is said to be sampled data system.

2. Write the advantages and disadvantages of sampled data control system.


Advantages:
High accuracy, minimum cost, The complex control calculations can be
performed very easily, Data processing with the help of digital controllers is
straight and fast,
Disadvantages:

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The sampling process tend to result in more errors, which may affect the
system performance. There are limitations on the signal resolution due to the
finite word length of the digital processors, Designing the digital controllers is
very much complex than designing the analog controller for an equivalent level
of performance.

3. State sampling theorem.


A continuous time signal can be represented in its samples and recovered back
if the sampling frequency Fs≥2Fmax where Fs is the sampling frequency and
Fmax is the maximum frequency present in the signal.

4. What is periodic sampling?


Sampling of a signal at uniform equal intervals is called periodic sampling.

5. What are hold circuits & explain it.


The function of the hold circuit is to reconstruct the signal which is applied as
input to the sampler. The simplest holding device. Holds the signal between two
consecutive instants at its preceded value till next sampling instant is reached.

6. What are the problems encountered in a practical hold circuits?


Hold mode may drop occur, nonlinear variation during sampling aperture,error
in the periodicity of sampling.

7. What are the advantages of state space analysis?


It can be applied to non-linear as well as time varying systems.
Any type of input can be considered for designing the system
It can be conveniently applied to multiple input multiple output systems.
The state variables selected need not necessarily be the physical quantities of
the system

8. What are state variables?


The state of the system is a minimal set of variables known as state variables.

9. What are phase variables?


The phase variables are defined as the state variables which are obtained from
one of the system variables and its derivatives.

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PART B ( 16 MARKS)

1. Write notes on controllability and observability. (16)


2. Explain sampling theorem briefly and sample & hold operation. (16)
3. Explain stability analysis of sampled control system and Jury’s stability. (16)
4. Explain state space representation for discrete time system. (8)
5. Explain state space representation for continuous time system. (8)
6. Explain the solution for state equation for discrete time system. (8)
7. Explain the solution for state equation for continuous time system (8)
8. Explain jury’s stability test. (16)
9.Expalin in detail the sampling theorem.(16)

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