HIGHER EDUCATION DIVISION Examinations: Semester: Two__ 2001_ Paper one__ of _one__ Department of __BS&EE. Campus _Hawthorn__ Subject Code(s): _HET489. Full Subject Title: _Robotic Control — STUDENT'S NAME: ID No: Duration: _Three___hours 00___minutes Percentage of overall assessment ‘covered by this paper: Reading Time: Ten. minutes -60__% INSTRUCTIONS TO CANDIDATES Materials Allowed Students may take drawing instruments and calculators into the examination. Note that i the calculator has programming capacity the memory must contain no material pre-prepared by the student. Staff have the authority to request that the calculator memory be cleared. Answering Requirements ‘Students may answer all questionsQu. SWINBURNE UNIVERSITY OF TECHNOLOGY SCHOOL OF BIOPHYSICAL SCIENCES AND ELECTRICAL ENGINEERING HET489 ROBOTIC CONTROL, SECOND SEMESTER EXAMINATION 2001 A robot has a movement in the x direction controlled by a de servo motor as shown in the block diagram in figure 1 Ris) Gearbox and linkage Power Amplifier E A vt 5 o Motor x(S) meters Note @ (b) © 4 ‘SH1000+4 32 3s 25 position transducer O41 Figure 1 The output is to have zero steady state error to a ramp input. Itis proposed to use a proportional plus integral (PI) controller. ‘Show that the error is improved by using such a controller. On the block diagram show where you would incorporate the PI controller. Using root locus diagram sketches show how the dynamic performance of the system is effected. To improve the dynamic performance of the system two suggestions have been made. (i Upgrade the PI controller to a PID controller. (i) Employ tacho feedback using a signal proportional to motor velocity added to the existing output feedback signal. Show how each proposal can improve the dynamic performance of the system and highlight any differences in the two forms of compensation. If the coupling between the motor and gearbox becomes loose so that the motor shaft can rotate through 2 degrees without engaging the gearbox shaft, what type of non-linearity is this? Draw the input-output characteristic of the non-linearity and show where it would be included in the system block diagram.HET489 Robotic Control Second semester examination 2001 @ Figure 2 shows a plot of magnitude of GGw)H(w) in dB vs phase of GGw)H(Gw) for the original system. Also shown is a plot of 1/Gy (Gy= describing function) for the non-linearity in part c. Design a compensator to avoid the problem of a limit cycle. where the Note ifa lead network is used 8, = Sin4=% and a», lta Vor? symbols have there usual meaning. bt jerfas 60 40 720 L-40 +-60 Figure 2. (8 +10 + 17 + 10 = 35 marks)HET489 Robotic Control Second semester examination 2001 Q (@) The block diagram in figure 3 shows a two input, two output control system. vu —> U2 x2 bu xt PS?) aa OXY eae a “oY UY 2 Figure 3 Develop a state variable model of the system to represent the variables X1 and X2 as outputs and V1 and V2 as inputs. (b) The figure shows a triangular staircase output (obtained from a sample and hold circuit) which is applied to a first order system. The sampling time of the sample and hold is 0.1 see. Input u(kT) 015 =P 050 | 10 u yrxt 0.25 ae 0.00 0.0 03 06 Time(s) First Order SystemHET489 Robotic Control Second semester examination 2001 () Determine the continuous state equation for the system in the form x=Fx+Gu y=Cx (ii) Determine the discrete state equation in the form xket = A(T) xe + BCT) Uy where A(T) = Discrete Transition Matrix B(T) = Discrete Input Matrix Use a quadratic approximation for A(T) and B(T). (ii) Calculate the first 3 steps of the response y(kT) at the sampling times t= T, 2T and 3T for the input as shown. Assume zero initial conditions for the system. (12 + 6+ 6+ 6=30 marks) QB ‘A simplified block diagram for a commercial digitally controlled high speed video tape transport is shown below where the tape position (x) is set by the reference tape position ret). The video tape transport uses a digital controller where the A/D converter can be considered as an ideal sampler (the input being the analog tape position error signal) while the D/A converter can be considered as an ideal sampler plus zero order hold ( the ‘output being the tape dynamics staircase input). The actual digital controller is D(z). The delay term (¢"") in the tape dynamies transfer function accounts for an internal delay in the tape transport system. Gas) Dz) Gols) Gets) e AD pia >| 400% J s(s + 40) Digital Controtle Tape Dynamics His) ‘TransducerHET489 Robotic Control Second semester examination 2001 The parameters of the system are: Tape Dynamics Gp(s) = Zero Order Hold Go(s) = (IA) Digital Controller D@ = — Variable AD Gas) = 1 Position Transducer (e) aden Sampling Time ic Si 1/120 see Analyse the position control system as follows: @ (b) Obtain the forward path transfer function G(z) = Ga(s)Go(z)Gp(z) assuming no controller action is utilized, that is D(Z)=1. Hint 1.0 Z((-e)e* GQ] = (1-2) Z [GS] 2. Partial fractions of ee tb a ae s%(sta) sv as asta) For a constant controller gain D(z) = 50 determine the first 4 terms for the video tape position response x(kT), k=0,1,2,3 for a unit step input Xeer(KT) = 1. Sketch the output sequence.HET489 Robotic Control Second semester examination 2001 ¢ To improve the response of the system a digital controller of the form D(z) = K (z- 0.72) z is used. Plot the root locus for I + D(z)G(z) = 0 on the unit circle graph paper provided for varying controller gain K. (@) From the root locus determine the controller gain K required to achieve a damping ratio E = 0.5, hence estimate the system natural frequency w, and settling time t, (for <1% settling error). (10+ 10+ 8 +7=35 marks) END OF PAPERHET489 Robotic,Contral Second semester examination 2001 S S é on \ To ia I oY | i ¥ Li | clea! Yi i VWtt a im — “I oe “Ti I LI ” reclited transient response of a second-order system to 2 unit “ep displacement input, SECOND ORDER SYSTEMS For a second order system with complex conjugate poles the tine - Response to a unit step input is given by: bunt, e(t) = 1s sin (wu, YI = ¢@ t + arcos ¢) for zero initial conditions withHET489 Robotic Control Second semester examination 2001 Table z-Transforms x@) X(s) Xi) 6=0 ao) {k 1=kT,k 40 1 1 fi, c=kT au = an) = {ly tek en (2), unit step Us t Us* 1 eu sta 1 (=e). l-e™ s(s + a) (z — Wz - e w zsinwT sin we stu z= 2zcoswI +1 5 zz - cos wD) COS wt s+ a? zi—2zcoswl +1 e ze-*" sin wT) e7% sin wt (s + a +o z? — 2ze-*? cos wI + e~¥T s+a ze T cos wT e-“cosat (s+ aP+at 2? = 2ze7*? coswT + eT Table Properties of the z-Transtorm x0) XC) 1. kat) KX(2) 2. a) + Hi) + XC) 2 x(¢+ 7) 2X(2) — =x(0) ) 4 ex() Tn 5. e7%x(t) X(ze**) 6 (0), intial value Him X(2) ifthe limit exists 7. x(e), final value lim (z — 1)X(z) if the limit exists and the system is stable; i.e., all poles of (z ~ 1)X(z) are inside unit circle|z| = 1 on z-plane.HET489 Robotic Control Second semester examination 2001 @ PLANE Locr oF constawr § ano W ZPLANE LOcT OF constant § ano Wy 36° to sa ior 0.1 i x jior 04 as 0.6 0 08 f=10 mx] 04 1 TF 90° 0.0 nd oy 04 th in | le tf 2 « I mel? 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