ANTON DE KOM UNIVERSITEIT VAN SURINAME

FACUL TEIT DER TECHNOLOGISCHE WETENSCHAPPEN

ELEKTROTECHNIEK

Tentamen : Regeltechniek 1
Datum : Woensdag 16juli 2014
Tijd : 08:00 - II :00 vrn
Docent : C.Ally MASc

Dit tentamen bestaat uit 3 bladzijden en 5 opgaven.

VERPLICHT: Questionl, Question 3, ·Question 4.
KEUZE: Question 2 en Question 5.

Question 1. (20 pts)

A major problem in the local television system is adjusting the direction of the installed
antenna to optimize reception. You are given the task of designing an automatic control
system that resolves this problem,

a.) Briefly explain the steps involved in designing a control system. (4pts)

b.) Draw a block diagram of your proposed control system, indicate: the plant, actuator,
sensor(s) and type of controller that will be used. (8pts)

c.) Explain the operation of your design. (4pts)

d.) Compare open-loop and feedback control of your system. (4pts)

Question 2. (20 pts)

Figure (1) shows the block diagram ofa feedback control system, where the input is R(s),
output is C(s) and D(s) is an external signal,

a.) Find the total response C(s) ofthe system if the input R(s) and disturbance D(s) are
applied simultaneously. (l2pts)

b.) Show the required relationship among the transfer functions Gj, Gc, Gl, Gp and H such
that the output is not affected by the disturbance D(s). (8pts)

".,1 ~~ +
-....l...- ~G+)'(]f--'._

tL..------1G-------'
Figure 1

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 Question 3. (30 pts)

A dc-motor used for controlling fan speed in an air-conditioning unit is shown schematically
in figure (2) below. The model describes both the motor electrical and shaft (mechanical)
behavior.

~el d
Ro

eo(t)
-
io(/) ") Jm
B~
Figure 2

Where:R a ~ in; Kb ~ 1 V/rad/s; 1m ~ 0.005 kg. m'; B ~ 0.0005 Nm/rad/s;

Tm = torque developed by the motor; 8m =- angular displacement (rad);

a.) Write the describing differential equations for both the electrical and mechanical
(shaft) sub·systems. (7pts)

The motor is initially controlled by a P-controller with constant Kp and the speed of the shaft
Wm is measured with a tachometer with constant Km = 1 V /rad,

b.) Draw a block diagram of the total system (excluding load). (6pts)

c.) Derive the closed-loop transfer function of the system, where the input is Ea(s) and
the output is angular velocity W m . (6pts)

A step input is applied to the system,

d.) Compute the steady-state error essofthe system. (6pts)

e.) Modify the controller such that e ss can be brought to zero and prove mathematically
that e ss is eliminated. (5pts)

21 Pa g e
 Question 4. (30 pts)

The open-loop block diagram of a position control system is shown in figure (3) below, the
system is to be controlled with a P-controller with constant Kp and is required to operate at a
maximum overshoot %OS "'S 10%.
R(s) --i G1(s) H G2(s) r yes)
Figure 3

Where,
1 1
Gl(s) = - - G2(s) = - -
s+3 s+6
a.) Explain briefly the main difference(s) between the Routh-Hurwitz, Root-locus and
Frequency response methods for designing control systems. (6pts)

b.) Give ranges of< Kp where the system is underdamped., critically damped and
overdamped. (12pts)

c.) Sketch the Root-locus for the system and indicate the breakaway points;
underdamped, overdamped and critically-damped regions. Also indicate the
operational region in the s-plane that satisfies the specified requirement of maximum
overshoot. (12pts) (hint: %OS = 100e- rr(/b-<')

Question 5. (20 pts)

A model of< a two-mass system in shown in figure (4), where k/ and k2 are spring constants,
and bl is the viscous friction coefficient. Set m.g = 0 for the transfer functions.
a.) Write the differential equations describing the displacementy(t) of the system.(lOpts)

Yz(s)
b.) Find the Transfer function - - of the system by electrical analogy. (lOpts)
F(s)

"

yi(t) ~
f(t)
Figure 4

Success.

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