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2014 ENGR2002 InstrumentationandControls April 2014
2014 ENGR2002 InstrumentationandControls April 2014
2014 ENGR2002 InstrumentationandControls April 2014
Date and Time: Wednesday 23rd April, 2014. Time: 9:00am – 12noon Duration: 3 hours
Instructions to Candidates
1. Students please note that academic dishonesty (or cheating) includes but is not limited to
plagiarism, collusion, falsification, replication, taking unauthorised notes or devices into an
examination, obtaining an unauthorised copy of the examination paper, communicating or
trying to communicate with another candidate during the examination, and being a party to
impersonation in relation to an examination.
2. The above mentioned and any other actions which compromise the integrity of the academic
evaluation process will be fully investigated and addressed in accordance with UTT’s
academic regulations.
3. Please be reminded that speaking without the Invigilator’s permission is NOT allowed.
1. Calibration of a voltmeter gave the following data. Determine the maximum hysteresis
error and its percentage of the full-scale range. [20 marks]
3. (a) A microprocessor gives an output of an 8-bit word. This is fed through an 8-bit
digital-to-analogue converter to a control valve which requires 6.0 V to be fully open. If
the fully open state is to be indicated by the output of the digital word 11111111 what
will be the change in output to the valve when there is a change of 1 bit? [10 marks]
(b) A thermocouple gives an output of 0.4 mV for each degree change in temperature.
What will be the word length required when its output passes through an analogue-to-
digital converter if temperatures from 0 to l00°C are to be measured with a resolution of
0.5°C? [10 marks]
4. A robot includes significant flexibility in the arm members with a heavy load in the
gripper. A two-mass model of the robot is shown in Figure. Q4. Find the transfer
function Y(s)/F(s).
[20 marks]
Fig Q4
𝐾 1
Gc (s) = and G(s) =
10𝑠+1 2𝑠+1
Determine
(a) The closed-loop transfer function, T(s) = Y(s)/R(s), [6 marks]
(b) The steady-state error for a step change in the desired consistency R(s) = A/s.
[8 marks]
(c) Calculate the value of K required for an allowable steady-state error of 2%.
[6 marks]
(a) Determine the limiting gain for a stable system. [10 marks]
(b) Determine a suitable gain so that the overshoot to a step command is approximately 5%.
[5 marks]
Fig Q6
7. For the system shown in Fig Q7, determine the values of K i and K p to obtain the
following system specifications:
(a) no steady state error with a step input
(b) a damping ratio of 0.707
(c) a settling time of 1 s [20 marks]
+
R (s) E(s) C(s)
Kp + Ki/s 1/(s + 3)
-
Fig Q7
𝐾
G c G(s) =
𝑠(𝑠+3)(𝑠 2 +2𝑠+2)
Determine:
(a) The root locus breakaway point and [4 marks]
(b) The value of the roots on the jω-axis and the gain required for those roots.
[6marks]
(c) Sketch the root locus. [10 marks]
END OF PAPER