Departement Meganiese en Lugvaartkundige Ingenieurswese Universiteit van Pretoria

1e Semestertoets, toeboek, in die Module Beheerstelsels MBB410 5 Maart 2008 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 5 March 2008
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 MATLAB- of SCILAB-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 MATLAB or SCILAB 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 wat op die netwerk verskaf word. 5. Beantwoord alle vrae.

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 supplied on the net. 5. Answer all questions.

Vraag 1

[50 punte]

Question 1

[50 marks]

n Ankerbeheerde gelykstroommotor word gebruik vir presisie-beheer van die rotasiehoek van n roterende skyf D met pol ere traagheidsmoment JD . Die skyf word ondersteun deur n stel laers waarvan die wrywing by benadering gemodelleer kan word met viskeuse demping met torsionele dempingskonstante bD . Die skyf word aan die rotor van die motor verbind met n as met torsionele styfheid kT . Die massa van die as is klein genoeg om ge gnoreer te word. Hierdie opstelling word voorgestel in guur 1.1, waarin die as reg by die verbinding met die motor gesny is om die interne torsionele moment in die as, Td , te toon. Daar kan aanvaar word dat die interne torsionele moment in die as die enigste versteuringsmoment op die motor is. Die pol ere traagheidsmoment van die rotor van die motor is J . Die ankertydkonstante a = La /Ra is baie kleiner as di e van die rotor, N = J/b, waar b die viskeuse dempingskonstante waarmeee die motorlaers gemodelleer word, is. Die dinamika van die motor, met beheerintreespanning Va (t), versteuringsmoment Td (t) en uittreehoeksnelheid (t), sonder die as en die skyf D, kan dus voorgestel word soos in die blokdiagram in guur 1.2.

An armature controlled DC motor is used for precision control of the rotational angle of a rotating disk D with polar moment of inertia JD . The disk is supported in a set of bearings, the friction in which can be modelled by approximation by viscous damping with a torsional damping constant bD . The disk is connected to the rotor of the motor with a shaft with torsional stiness kT . The mass of the shaft is small enough to be neglected. This arrangement is depicted in gure 1.1, in which the shaft has been cut right at the connection to the motor, to show the internal torsional moment in the shaft, Td . It may be assumed that the internal torsional moment in the shaft is the only disturbance moment on the motor. The polar moment of inertia of the rotor of the motor is J . The armature time constant a = La /Ra is much smaller than that of the rotor N = J/b, where b is the viscous torsional damping constant with which the motor bearing resistance is modelled. The dynamics of the motor, with control input voltage Va (t), disturbance torque Td (t) and output angular velocity (t), without the shaft and the disk D, may therefore by approximation be presented as in the block diagram in gure 1.2.

(t) D

Td (t) Motor (t) (t)

Td (t)

Figuur 1.1 / Figure 1.1

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Laat (t) die rotasiehoek van die motor rotor wees. Dan d is (t) = dt [(t)]. Bepaal (a) die verband tussen die die rotasiehoeke (t) en (t), en die moment Td (t). [3 punte] (b) die oordragsfunksie (s)/Td (s). [10 punte]

Let (t) be the rotation angle of the motor rotor. Then d (t) = dt [(t)]. Determine (a) the relationship between the rotational angles (t) and (t), and the moment Td (t). [3 marks] (b) the transfer function (s)/Td (s). [10 marks]

Td (s) Va (s) (s)

Figuur 1.2 / Figure 1.2

n Mens kan maklik aantoon dat die oordragsfunksie (s)/(s) gegee word deur (s) kT = (s) JD s2 + bD s + kT

One can easily show that the transfer function (s)/(s) is given by (s) kT = 2 (s) JD s + bD s + kT

Td (s) Va (s) Kb Figuur 1.3 / Figure 1.3 Km Ra 1 Js + b 1 s

kT

JD

s2

(s) 1 + bD s

kT

Va (s)

Km Ra

1 Js + b

1 s

JD s2

kT + bD s + kT

(s)

Kb Figuur 1.4 / Figure 1.4

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Twee ingenieurs wat gevra is om die oordragsfunksie van die algehele stelsel, d.w.s. insluitende die as en skyf D, te bepaal, het met twee verskillende blokdiagramme vorendag gekom, getoon in gure 1.3 en 1.4. (c) Gestel guur 1.3 is die korrekte blokdiagram. Gebruik die parameters wat hieronder gegee word en bepaal die oordragsfunksie van die stelsel, in sy eenvoudigste vorm as die verhouding tussen twee polinome in s, met die ko esi ent van die hoogste mag in s in die noemerpolinoom gelyk aan 1. [11 punte] (d) Gestel guur 1.4 is die korrekte blokdiagram. Gebruik die parameters wat hieronder gegee word en bepaal die oordragsfunksie van die stelsel, in sy eenvoudigste vorm as die verhouding tussen twee polinome in s, met die ko esi ent van die hoogste mag in s in die noemerpolinoom gelyk aan 1. Bereken ook die posisies van al die pole en zeros op die svlak. [7 punte] (e) Gestel guur 1.4 is die korrekte blokdiagram. n Terugvoerbeheerstelsel word nou soos volg daargestel: Die intreespanning na die motor Va word verskaf deur n versterker, met aanwins Ka . Die gewensde uittreehoek word as n bevelspanning r(t) (intree, in Volt) verskaf. Die werklike rotasiehoek van D, (t), word met n hoekomsetter, met aanwins Kh , gemeet. Die omsettersein word met die bevelsein vergelyk en die foutsein (in Volt) word gebruik as inset tot die motorversterker. Gebruik die resultate van deel (d) hierbo, bepaal die oordragsfunksie van die terugvoerstelsel en gebruik dit om die eenheidstraprespons van die terugvoerstelsel oor n periode van 2.5 sekondes na die trap te teken, ook in u antwoordboek. Gebruik hierdie graek om die persentasie oorskiet en die piektyd te bepaal. Dui op die graek in u antwoordboek aan waar hierdie waardes afgelees is. [11 punte] (f) Ondersoek die limiet-geval waar kT en gebruik dit om n uitspraak te lewer, met motivering, oor watter een van gure 1.3 of 1.4 die korrekte blokdiagram is. [8 punte] Gebruik die volgende parameters:

Two engineers asked to determine the transfer function of the overall system, i.e., including the shaft and disk D, came up with two dierent block diagrams, shown in gures 1.3 and 1.4. (c) Assume gure 1.3 is the correct block diagram. Use the parameters given below and determine the transfer function in its simplest form as the ratio of two polynomials in s, with the coecient of the highest power of s in the denominator polynomial equal to 1. [11 marks] (d) Assume gure 1.4 is the correct block diagram. Use the parameters given below and determine the transfer function in its simplest form as the ratio of two polynomials in s, with the coecient of the highest power of s in the denominator polynomial equal to 1. Also determine the position of all the poles and zeros on the s plane. [7 marks] (e) Assume gure 1.4 is the correct block diagram. A feedback control system is now established as follows: The input voltage to the motor Va is supplied by an amplier, with gain Ka . The required output angle is supplied as a command voltage r(t) (input, in Volt). The true rotation angle of D, (t), is measured with an angular transducer with gain Kh . The transducer signal is compared to the command signal and the error signal (in Volt) is used as input to the motor amplier. Use the result of part (d) above, determine the transfer function of the feedback system and use this to plot the unit step response of the feedback system over a period of 2.5 seconds after the step, also in your script. Use this graph to determine the percentage overshoot and the peak time. Show on the graph in your script where these values were read o. [11 marks] (f) Investigate the limiting case where kT and use this to determine, with motivation, which one of gures 1.3 or 1.4 is the correct block diagram. [8 marks]

Use the following parameters:

J = 0.2 kgm2 JD = 0.7 kgm2 Ka = 1.8

b = 2.0 Nm/(rad/s) bD = 1.8 Nm/(rad/s) Kb = 0.12 V/(rad/s) Kh = 50 V/rad

Ra = 0.5 kT = 10 000 Nm/rad Km = 0.12 Nm/A

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