REPRESENTATION OF PROCESSES AND CONTROL ELEMENTS 37

EXERCISES

2.1 For the system of Fig. 2.33, find the equation for pressure p2 as a function of inlet pressure p0. The
capacitances of the vessels are C1 and C2 and flow resistances are R1 and R2, as shown

R1 R2

PD P1 P2
C1 C2

Fig. 2.33 Figure for Exercise 2.1

2.2 The oil bath shown in Fig. 2.34 has inside diameter
of 0.7 metre and height of 1.2 metre. Inside film D
coefficient = 50 watt/m2K. Specific heat of the oil is
2200 J/KgK and mass density of oil is 900 Kg/m3. q2
Neglecting the wall resistance and the outside film Steam q1
H
coefficient, find the transfer function of the system
Oil
2/1, viz. the temperature ratios. (Thermal resistance
of the system may be taken as 1/Ah, where A is the
area for heat transfer and h is the film coefficient).
Fig. 2.34 Figure for Exercise 2.2
2.3 Derive the transfer function relating input ‘x’ and
output ‘z’, for the hydraulic servo shown in
Fig. 2.35. Neglect the inertia of the sleeve.
x
Port coefficient ‘b’

Oil Area A

y
Sleeve z

C k

a l

Fig. 2.35 Figure for Exercise 2.3

38 THEORY AND APPLICATIONS OF AUTOMATIC CONTROL

2.4 For the hydraulic servo of Fig. 2.36, derive the expression for transfer function y/x.
Area ‘A’

y output

a
x input

a z

Port coefficient
= ‘b’

Pump

Fig. 2.36 Figure for Exercise 2.4

2.5 Figure 2.37 shows a field controlled motor, driving a load through a gear box whose reduction
ratio = 50, R = 40 ohm, L = 10H, Motor torque constant = 0.5 Nm/ampere of field current, Load
inertia J = 102 Kgm2. Load viscous damping constant ‘B’ = 1.0 Nms/rad. If motor inertia =
106 Kgm2 and its damping is negligible, derive the governing relation between voltage e, Load
torque uL and output rotation c.
R

ia (constant)
qC uL B
if
e L Gear box J

Field Armature
Fig. 2.37 Figure for Exercise 2.5

2.6 Figure 2.38 shows a flow control system, with controlled variable as ‘q’, the volume flow rate of
water (m3/sec). The desired or reference flow rate is ‘qr’ (m3/sec). The actual flow rate is sensed
as shown. The sensor equation is: q = 104 (p1  p2), with pressures p1 and p2 being in N/m2.
Diaphragm stiffness 'k' is 1000 N/m and its diameter is 0.06 metres. The port constant of the
hydraulic servo is 0.05 m2/sec and Area A1 of the power piston is 0.01 m2. Further, the flow rate
is related to the motion y by the equation : Q = 300 y, where y is in meters. Other relations are as
shown in Fig. 2.38.
Draw the block diagram of the system and find the equation relating q and qr.
 REPRESENTATION OF PROCESSES AND CONTROL ELEMENTS 39

z = 0.01 qr

z Input lever
x
c c p2
qr a a
x Feedback
Reference
z-x lever
input e=
2
Flow rate p1
Elastic
Diaphragm
Area A
(Stiffness k)
High
pressure Area A1
oil
Hydrolic servo y

Ps q q
Supply pressure Actual
of water (constant) Valve flow rate
(Controlled variable)
Pipe
Venturimeter

Fig. 2.38 Figure for Exercise 2.6

2.7 Find the open and closed loop transfer function of the system with the following block diagram.
r
Input 2 c Output
1 + 0.2 D D + 10 D + 20
-

50

Fig. 2.39 Figure for exercise 2.7

ANSWERS TO EXERCISES

p0
2.1 p2 =
R1 R2 C1C2 D + ( R1C1 + R2 C2 + R1C2 ) D + 1
2

q2 1
2.2 =
q1 1 + 47567.5D
y K
2.3 =
z K + CD
2.4 y = 2x
40 THEORY AND APPLICATIONS OF AUTOMATIC CONTROL

2.5 qc = ÊÁ
0.5 ˆ
e + L (2.5 ¥ 10-4 D2 + 2 ¥ 10-2 D )
u
˜
Ë 40 + 10 D ¯ 50

qr 75,000
2.6 q = D + 212.5
0

qr 2.5 q0
0.01 3000
Reference z D
2e Output
input Input -
Hydraulic servo Valve
element

-6 4
2.83 × 10 10

Diaphragm Venturimeter

c
2.7 = 0.004 D3 + 0.04 D2 + 0.28 D + 1.4 .
r

SOME ANSWERS TO PROBLEMS ARE WRONG.

USE CORRECTED ANSWERS FOR CHECKING
AS PER CORRECTIONS NOTIFIED IN CLASS