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Code No: A4303 Jawaharlal Nehru Technological University Hyderabad M. Tech I – Semester Supplementary Examinations September – 2009 MODERN CONTROL THEORY (Common to Power Electronics and Electrical Power Engineering)

Time: 3 Hours

Max. Marks: 60

Answer Any Five Questions All Questions Carry Equal Marks

1.

---

Obtain the state model of the following systems given in Fig.1.

<a href=w w w . e s t u d e n t z o n e . c o m w w w . e s t u d e n t z o n e . c o m Code No: A4303 Jawaharlal Nehru Technological University Hyderabad M. Tech I – Semester Supplementary Examinations September – 2009 MODERN CONTROL THEORY (Common to Power Electronics and Electrical Power Engineering) Time: 3 Hours Max. Marks: 60 Answer Any Five Questions All Questions Carry Equal Marks 1. --- Obtain the state model of the following systems given in Fig.1. 2. Fig.1 a] Define controllability and observabilit y. Explain both of them with the help of Kalman’s Test. b] Determine controllability and observability of the system described by ⎡ ⎢ ⎢ ⎢ ⎣ x 1 x 2 x 3 ⎤ ⎥ ⎥ ⎥ ⎦ = ⎡ 010 ⎢ 001 ⎢ ⎢ −− ⎣ 6 11 − 6 ⎤⎡ x 1 ⎥⎢ ⎥⎢ x 2 ⎥⎢ x ⎦⎣ 3 ⎤ ⎥ ⎥ ⎥ ⎦ + ⎡ ⎤ 0 ⎢ ⎥ 0 ⎢ ⎢ ⎥ ⎥ 1 ⎣ ⎦ u Y = [ 451 ] ⎡ x ⎤ ⎢ ⎢ 1 x 2 ⎢ x ⎣ 3 ⎥ ⎥ ⎥ ⎦ 3. a] Define singular point. Draw the phase trajectories for different eigen values and singular points. b] Draw the phase trajectory using method of isoclines for a linear second order servo described by the equation, 2 e + τω ee 2 n += ω n 0 Where τ =0.15; ω =1 rad/sec; e(0) =1.5 and e (0)=0. n 4. a] Derive the describi ng function in general? b] A Servo system used for positioning a load has backlash characteristics as shown in Fig.2. The block diagram of the syst em is shown in Fig.3. The magnitude and Cont…2 " id="pdf-obj-0-63" src="pdf-obj-0-63.jpg">

2.

Fig.1

  • a] Define controllability and observability. Explain both of them with the help of Kalman’s Test.

  • b] Determine controllability and observability of the system described by

x

1

x

2

x

3

=

010

001

⎢ −−

6

11

6

⎤⎡

x

1

⎥⎢

⎥⎢

x

2

⎥⎢ x

⎦⎣

3

+

⎡ ⎤

0

0

1

⎣ ⎦

u

Y

=

[

451

]

x

1

x

2

x

3

3.

  • a] Define singular point. Draw the phase trajectories for different eigen values and singular points.

  • b] Draw the phase trajectory using method of isoclines for a linear second order servo described by the equation,

2

e + τω ee

2

n

+= ω

n

0

Where τ =0.15;

ω =1 rad/sec; e(0) =1.5 and e (0)=0.

n

4.

  • a] Derive the describing function in general?

  • b] A Servo system used for positioning a load has backlash characteristics as shown in Fig.2. The block diagram of the system is shown in Fig.3. The magnitude and

Cont…2

Code No: A4303

::2::

Phase of the describing function of backlash nonlinearity for various values of b/x

are listed in table, where x=Max .value of input sinusoidal signal to the

nonlinearity.

<a href=w w w . e s t u d e n t z o n e . c o m w w w . e s t u d e n t z o n e . c o m Code No: A4303 ::2:: Phase of the describing function of backlash nonlinearity for vari ous values of b/x are listed in table, where x=Max .va lue of input sinusoidal signal to the nonlinearity. Fig.2 Fig.3 b/x 0 0.2 0.4 1.0 1.4 1.6 1.8 1.9 2.0 | K N | 1 0.954 0.882 0.592 0.367 0.248 0.125 0.064 0 K N 0 -6.7 -13.40 -32.5 -46.6 -52.2 -66 -69.8 -90 Show that the system is stable if K=1. Also show that limit cycle exists when K=2. Investigate the stability of the limit cycles and determine their frequency and b/x. 5. a] Define Lyapunov stability, instab ility and Asymptotic stability. b] Consider the second order system described by ⎡ x ⎤ ⎢ ⎣ 1 x 2 ⎥ ⎦ = ⎡ ⎢ ⎣ 0 − 1 1 − 1 ⎤ ⎥ ⎦ ⎡ x ⎤ ⎢ ⎣ 1 x 2 ⎥ ⎦ The equilibrium state is the origin. De termine the stability of this state. Cont…3 " id="pdf-obj-1-57" src="pdf-obj-1-57.jpg">

Fig.2

Fig.3

<a href=w w w . e s t u d e n t z o n e . c o m w w w . e s t u d e n t z o n e . c o m Code No: A4303 ::2:: Phase of the describing function of backlash nonlinearity for vari ous values of b/x are listed in table, where x=Max .va lue of input sinusoidal signal to the nonlinearity. Fig.2 Fig.3 b/x 0 0.2 0.4 1.0 1.4 1.6 1.8 1.9 2.0 | K N | 1 0.954 0.882 0.592 0.367 0.248 0.125 0.064 0 K N 0 -6.7 -13.40 -32.5 -46.6 -52.2 -66 -69.8 -90 Show that the system is stable if K=1. Also show that limit cycle exists when K=2. Investigate the stability of the limit cycles and determine their frequency and b/x. 5. a] Define Lyapunov stability, instab ility and Asymptotic stability. b] Consider the second order system described by ⎡ x ⎤ ⎢ ⎣ 1 x 2 ⎥ ⎦ = ⎡ ⎢ ⎣ 0 − 1 1 − 1 ⎤ ⎥ ⎦ ⎡ x ⎤ ⎢ ⎣ 1 x 2 ⎥ ⎦ The equilibrium state is the origin. De termine the stability of this state. Cont…3 " id="pdf-obj-1-63" src="pdf-obj-1-63.jpg">

b/x

 

0

0.2

0.4

1.0

1.4

1.6

1.8

1.9

2.0

|

K

N

|

1

0.954

0.882

0.592

0.367

0.248

0.125

0.064

0

 

K

N

0

-6.7 0

-13.40 0

-32.5 0

-46.6 0

-52.2 0

-66 0

-69.8 0

-90

Show that the system is stable if K=1. Also show that limit cycle exists when

K=2. Investigate the stability of the limit cycles and determine their frequency

and b/x.

5. a]

Define Lyapunov stability, instability and Asymptotic stability.

  • b] Consider the second order system described by

x

1

x

2

=

0

1

1

1

x

1

x

2

The equilibrium state is the origin. Determine the stability of this state.

Cont…3

Code No: A4303

::3::

6.

Design a full order state observer by representing it in the form of block diagrams.

7.

  • a] Derive the Euler equation for the variable end point by using calculus of variation.

  • b] Find the optimal control value using Hamiltonian method

8.

J ()

x

=

π

0

/ 4

2

( x

1

++

x

2

12

2

x x )dt

The Boundary conditions are

x (0) = 0;

1

x 1 (

π

4

)

=

1;

x 2 (

π

4

)

= −

1;

x (0) = 0;

2

`

Write Short notes on:

  • a) State transition matrix and its properties.

  • b) Eigen values and Eigen vectors.

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