MIDDLE EAST TECHNICAL UNIVERSITY MECHANICAL ENGINEERING DEPARTMENT ME 304 CONTROL SYSTEMS SPRING 2012 HOMEWORK 4

Assigned Date 21.03.2012 Due Date: 28.03.2012

Prepared By
Ula AKOVA (G-135) & Hakan ALIKAN (G-135) & Ula YAMAN (G-134)

Please follow the rules posted in the web page of the course in preparing your homeworks. You should submit your solution of this homework personally on its due date till 09:40 am to Automatic Control Laboratory, G-135. Definitely no extensions will be given beyond the due time.

1. A simplified model of a DC electric generation system is shown in the following figure.

Q
0

,
Control Gate

Reservoir, A

J
,

H
Q

DC Generator

Turbine

The dam is modeled as a hydraulic tank with a capacitance of . The hydraulic energy available in the tank is converted into rotational mechanical energy by the turbine placed at the end of the hydraulic system. The hydraulic system consists of a control gate and a long and thin hydraulic transmission line (both inertance and resistance). Hydraulic transmission line is approximated by a series connection of a hydraulic resistance, , inertance, , and a pressure tank with capacitance . In addition the control gate can be represented by the linearized valve equation give as Where is the pressure drop across the valve. Electrical energy produced in the DC generator is used to drive a load, represented by . The hydraulic turbine is assumed to be ideal with no energy storage or loss, ; where D is the volume displaced by the turbine per revolution and pressure.
ME304 / SPRING 2012 / SECTION 01-02-04 / HOMEWORK 4

, and is the inlet

1 / 3

a) Write down all the elemental and structural equations describing the system in time domain. b) Complete the detailed block diagram of the system given in the next page. Write the appropriate transfer functions inside the empty blocks, and draw the block diagram of the mechanical system compatibly with the rest of the diagram.

ME304 / SPRING 2012 / SECTION 01-02-04 / HOMEWORK 4

2 / 3

Qin P T

Q P

P3

Va

ia

VLoad

Hydraulic System

Turbine

Gearbox

Mechanical System

Generator

Electrical System

ME304 / SPRING 2012 / SECTION 01-02-04 / HOMEWORK 4

3 / 3