Departement Meganiese en Lugvaartkundige Ingenieurswese Universiteit van Pretoria

1e Semestertoets, toeboek, in die Module Beheerstelsels MBB410 17 Augustus 2011 Duur: 1 1 2 uur Eksaminator: Prof NJ Theron Volpunte: 50

Department of Mechanical and Aeronautical Engineering University of Pretoria

1st Semester Test, closed book, in the Module Control Systems MBB410 17 August 2011
1 Time: 1 2 hours

Full Marks: 50

Examiner:

Prof NJ Theron

Instruksies
1. Alle simbole in hierdie vraestel het die betekenis soos gebruik in die handboek of aanbieding van die module, tensy anders aangedui. 2. Gebruik van die rekenaar in beantwoording van die vraestel: Daar word van u verwag om die rekenaar te gebruik, maar dan bloot as n gereedskapstuk in die beantwoording van die vraestel. In hierdie verband is dit belangrik om daarop te let dat, soos nog altyd in toetse of eksamens, dit u verantwoordelikheid is om die eksaminator te oortuig van u kennis van en insig in die vak. Wanneer u dus die rekenaar gebruik om n berekening uit te voer as deel van die beantwoording van die vraag, moet u duidelik aandui wat u met die rekenaar bereken en hoe die berekening uitgevoer word. U kan dit byvoorbeeld doen deur n monsterberekening in die eksamenboek uit te werk, of die berekening in redelike detail te beskryf. Indien u berekeninge met die rekenaar uitvoer maar slegs antwoorde, sonder voldoende verduideliking, in die eksamenboek weergee, sal u gepenaliseer word. Aan die ander kant sal rekenaarkode ook nie aanvaar word as n geldige manier om aan te dui hoe die berekening uitgevoer is nie. Geen rekenaarkode sal nagesien word nie. U mag egter wel na OCTAVE-bevele in u verduidelikings verwys. 3. Indien u van rekenaar-graeke gebruik maak in die beantwoording van n vraag, moet die betrokke graeke netjies met vrye hand in die eksamenboek oorgeteken word en al die belangrikste inligting moet daarop aangedui word op s o n manier dat die eksaminator duidelik kan sien hoe elke graek gebruik is.

Instructions
1. All symbols in this paper have the meaning as used in the textbook or the presentation of the module, unless indicated otherwise. 2. Use of the computer to answer the questions: You are expected to use the computer, but then only as a tool in answering the paper. In this respect it is important to note that, as always during tests and examinations, it is your responsibility to convince the examiner of your knowledge of and insight into the subject. When you use the computer in answering a question, you should clearly indicate what is calculated with the computer and how this calculation is carried out. You may for instance do so by including a sample calculation in the examination book, or by describing the calculation in reasonable detail. If calculations are performed with the computer and only answers are transcribed to the examination book, without proper explanation, you will be penalized. On the other hand, computer code will not be accepted as a valid way to show how the calculation was done. No computer code will be taken into account during the adjudication of the answer. You may however refer to OCTAVE commands in your explanations. 3. If you use computer graphs in answering a question, the graphs should be neatly redrawn with a free hand in the examination book in such a manner that the examiner can clearly see how the graph had been used.

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Instruksies (vervolg)

Instructions (continued)

4. Geen data of rekenaarkode op magnetiese of optiese media wat n rekenaar direk kan lees (bv. sties, kompakskywe of geheuestokkies) mag in die eksamenlokaal ingebring word nie en geen materiaal mag tydens die toets vanaf die Internet of n netwerk onttrek word nie, behalwe die amptelike formulevel en OCTAVE l eers wat op die netwerk verskaf word. 5. Beantwoord alle vrae. 6. Die formulevel en OCTAVE programme is beskikbaar by G:\MBB410.

4. Students may not bring any data or computer code on magnetic or optical media that a computer can directly read (e.g., sties, CDs or memory sticks) into the computer laboratory and no material may be downloaded from the Internet or a network during the test, except the ocial formula sheet and OCTAVE les supplied on the net. 5. Answer all questions. 6. The formula sheet and OCTAVE programmes are available at G:\MBB410.

Vraag 1

[20 punte]

Question 1

[20 marks]

n Hystoestel word skematies uitgebeeld in guur 1. n Kabel is om n drom gewen en die een ent van die kabel is aan die drom bevestig. Die drom kan om sy horisontale as draai en word langs hierdie as ondersteun. Die vry ent van die kabel is vas aan n houer wat opgelig of laat sak word. Die loonvrag word in hierdie houer gelaai. Die houer gly langs vertikale gidse. Die traagheidseienskappe van die drom is vergelykbaar met di e van die houer met die loonvrag, en dit word wel be nvloed deur die lengte kabel wat op die drom opgerol is. Die elastisiteit van die kabel is heelwat laer as die van die res van die stelsel, sodat die res van die stelsel as star beskou kan word. Die traagheidseienskappe van daardie deel van die kabel wat van die drom afgerol is (die reguit deel waaraan die houer hang) kan as eerste benadering ge gnoreer word.

A lifting system is shown schematically in gure 1. A cable is wound around a drum and the one end of the cable is xed to the drum. The drum can rotate about its horizontal axis and is supported along this axis. The free end of the cable is xed to a container that is raised or lowered. The payload is loaded in this container. The container slides along vertical guides. The inertial properties of the drum is comparable with that of the container and payload, and it is indeed aected by the length of cable that is wound onto the drum. The elasticity of the cable is considerably lower than that of the rest of the system, so that the rest of the system may be considered as rigid. The inertial properties of that part of the cable that is wound o the drum (the straight part supporting the container) can as a rst approach be ignored.

A u

Figuur 1 / Figure 1

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Die drom word aangedryf deur n draaimoment T (t), om die houer te hys of te laat sak, maar ook om die posisie van die houer by n sekere vlak te beheer (dit wil s e, om ossilasie van die houer wanneer n sekere vlak bereik word, te beperk). Beskou die stelsel met die houer by n sekere vlak, waar die ewewigsposisie van die houer aangedui word deur A, n afstand onder die middelpunt van die drom. Gestel die rotasiehoek van die drom, (t), en die vertikale verplasing u(t) van die houer vanaf sy ewewigsposisie, word gedenieer soos aangetoon. L (u(t)) = U (s) en L (T (t)) = T (s). (a) Ontwikkel n s-domein model van die stelsel waarmee die oordragsfunksie U (s)/T (s) bepaal kan word. Hierdie model moet verkieslik in die vorm van n blokdiagram gegee word, wat sal toelaat dat die oordragsfunksie maklik met n program soos OCTAVE bereken kan word, indien die waardes van die parameters wat jy kies om die model te beskryf, bekend sou wees. Die oordragsfunksie U (s)/T (s) hoef nie bepaal te word nie, maar die blokdiagram moet minstens die oordragsfunksies van elke blok of elke substelsel aandui, of alle s-domein vergelykings wat die model beskryf en waaruit die oordragsfunksie direk bepaal kan word, moet netjies en duidelik uitgewys word. Verduidelik alle aannames wat jy maak, wat nie al reeds genoem is nie, asook jou notasie. [15 punte] (b) Veduidelik hoe die oordragsfunksie be nvloed sal word indien dit vir n ewewigsposisie waar die waarde van wesenlik van di e in deel (a) veskil, bepaal sou word. [5 punte]

The drum is driven by a torque T (t), to raise or lower the container, but also to control the position of the container at a certain level (i.e., to limit oscillation of the continer when a certain level is reached). Consider the system with the container at a certain level, where the equilibrium position of the container is indicated by A, a distance below the centre of the drum. Let the rotational angle of the drum, (t), and the vertical displacement u(t) of the container from its equilibrium position, be dened as indicated. L (u(t)) = U (s) and L (T (t)) = T (s).

(a) Develope an s-domain model of the system with which the transfer function U (s)/T (s) can be determined. This model should preferably be given in the form of a block diagram that would allow the easy calculation of the transfer function with a program like OCTAVE, if the values of the parameters that you choose to describe the model, were known. It is not necessary to determine the transfer function U (s)/T (s), but the block diagram should at least indicate the transfer functions of each block or sub-system, or all s-domain equations describing the model and from which the transfer function can directly be determined, should be neatly and clearly highlighted. Explain all assumptions that you make that are not already mentioned, as well as your notation. [15 marks] (b) Explain how the transfer function would be inuenced if it were to be determined for an equilibrium position where the value of would dier signicantly from than in part (a). [5 marks]

Blaai asb. om vir vraag 2 en 3.

Please turn the page for question 2 and 3.

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Vraag 2

[15 punte]

Question 2

[15 marks]

Beskou die beheerstelsel waarvan die blokdiagram gegee word in guur 2. Gebruik die denisies van die oordragsfunksies van die verskillende blokke gegee onder guur 2 en bepaal die oordragsfunksie Y (s)/R(s) van die stelsel in die vorm van n breuk met enkele teller en noemerpolinome in s, met die ko esi ent van die hoogste mag van s in die noemerpolinoom gelyk aan 1. Lys ook die posisies van die pole en zeros van die stelsel op die s-vlak.

Consider the control system, the block diagram of which is given in gure 2. Use the denitions of the transfer functions of the various blocks given just below gure 2 and determine the transfer function Y (s)/R(s) of the system in the form of a fraction with single numerator and denominator polynimials in s, with the coecient of the highest power of s in the denominator polynomial equal to 1. Also list the positions of the poles and zeros of the system on the s-plane.

G2 (s)

R(s)

G1 (s)

Y (s)

H1 (s)

Figuur 2 / Figure 2

G1 (s)

2 s+5 G2 (s) = s+6 s2 + 3s + 7

3 (s + 1)(s + 10)

H1 (s)

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Vraag 3

[15 punte]

Question 3

[15 marks]

Beskou die stelsel waarvan die blokdiagram gegee word in guur 3.

Consider the system the block diagram of which is given in gure 3.

R(s) +
G(s) = K (s + 2) s(s + 7) 3 s + 10

Y(s) G(s)

H (s) =

H(s)

Figuur 3 / Figure 3

(a) Laat K = 50. Bepaal die oordragsfunksie T (s) = Y (s)/R(s) van die stelsel in die vorm van n breuk met enkele teller en noemerpolinome in s, met die ko esi ent van die hoogste mag van s in die noemerpolinoom gelyk aan 1. [4 punte] (b) Teken, o ok in jou antwoordboek, die eenheidstraprespons van die stelsel T (s) met K = 10, oor n tydskaal wat die essensi ele dinamika daavan duidelik uitbeeld, en gebruik die graek om die volgende eienskappe van die stelsel te bepaal: (i) Die bestendige (of nale) waarde. (ii) Die 0 tot 100% stygtyd (Engels rise time). (iii) Die piektyd (Engels peak time). (iv) Die persentasie oorskiet. (v) Die 2% wegsterftyd (Engels settling time). Dui op die graek in jou antwoordboek duidelik aan waar al bogenoemde waardes afgelees is. [7 punte] (c) Aanvaar vir hierdie deel dat H (s) = 1. Bepaal n uitdrukking vir die sensitiwiteit van die oordragsfunksie T (s) = Y (s)/R(s) vir n verandering in die aanwins K , en gebruik hierdie uitdrukking om die hierdie sensitiwiteit te bereken by n nominale aanwinswaarde van K = 2, by die frekwensie s = j 5 rad/s. [4 punte]

(a) Let K = 50. Determine the transfer function T (s) = Y (s)/R(s) of the system in the form of a fraction with single numerator and denominator polynomials in s, with the coecient of the highest power of s in the denominator polynomial equal to 1. [4 marks] (b) Plot, also in your script, the unit step response of the system T (s) with K = 10, over a time interval that would clearly show the essential dynamics. Use this graph to determine the following: (i) The steady state (or nal) value. (ii) The 0 to 100% rise time. (iii) The peak time. (iv) The percentage overshoot. (v) The 2% settling time. Clearly indicate on the graph in your script where [7 marks] the above values have been read o. (c) For this part assume H (s) = 1. Determine an expression for the sensitivity of the transfer function T (s) = Y (s)/R(s) to a change in the gain K , and use this expression to calculate this sensitivity at a nominal gain value of K = 2, at the frequency s = j 5 rad/s. [4 marks]

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