UNIVERSITY EXAMINATIONS, UNIVERSITEITSEKSAMENS UNISA fn AUC401M ctober/Novernber 2018 AUTOMATIC CONTROL IV Duration 3 Hours 4100 Marks EXAMINERS FIRST MR & SITHOLE SECOND MR TJ RALINALA EXTERNAL MR F'CHIROMO Use of a non-programmable pocket calculator 1s permissible Closed book examination ‘This examination question paper remains the property of the University of South Africa and may not be removed from the examination venue This examination question paper consists of 3 pages plus 2 formula sheets (pages hu) plus 6 Tables (pages -v) INSTRUCTIONS TO CANDIDATES 1 Answeral the questions 2 Allcalculations must be shown 3° Allealculatons must be rounded olf fo at least 4 sigreicant figures 4 Inthe event of uncertainties, state your assumptions cleavly and carry on with the questions THIS IS A CLOSED BOOK EXAMINATION2 AucaoiM October / November 2018 Question 1 The block diagram in Figure @1 below shows the feedback control system of a hand too! hy fin Yoo G o o. Lt. IT Gs 7 He 7 Figure Q1 11 Find the transfer T/s) = ¥(5)/A(s) function for the machine tool (15) 15] Question 2 Y Ch ay rat's A A 9 —— 5 aoth Figure Q2 ze (4 N rovimin 2 a2 rads The shaft AB 1s supported in the horizontal position by beanngs at A and B and cames a uniform disc of mass 40 kg and diameter 250 mm as in Figure Q2 The shaft rotates at N = 600 rev/min as indicated and 1s turning about the y axis at Qy = 4 rad/s The disc 1s at a position 0 35 m from the beanng at A and 0 25 m from the bearing at B The mass of the shaft ‘can be neglected in this calculation Determine 11 the gyroscopic couple, @ 1.2 the gyroscopic forces on the beanngs and their directions, ®) 13 the total reactions of the bearings on the rotor shaft, considenng the effect of the weight of the dise @ (15) Question 3 ‘ K ee Ris) S63) ‘s) Figure Q3 The feedback control system in Figure Q3 represents a hydraulic arm for a robot The forcing function r(t) = u(t), 1s a unit step put and all initial conditions are zero 3.1 Determine the response c(t) when K = (3s + 8) (20) [20] [TURN OVER}3 AUCAOIM October / November 2016 Question 4 The charactenstic equation for control system can be wntten as SPH2s! 435? 4452 426424 DHA (V2 41 Determine the range of values of k for which the system is stable (15) (15) Question 5 Xis) +. kc Y{s) 5(s+8) Figure Q5 The diagram Figure Q5 shows the feedback control of a vibrating spring-mass system If the system has an impulse input and the gain k = 100, determine 5 1 the transfer function ¥(s)/X(s), (5) 5 2 the charactenstic equation, 2) 53 the undamped natural frequency of the system, 2) 5 4 the damping ratio, (2) 55 the damped natural frequency, (2) 56 the maximum percentage overshoot, @) 57 the peak time, (2) 58 the settling time to within 5% of intial response 2) [20] Question 6 ST hy hy pts le é ye be Figure G6 me Ty 6 1 Develop the state-space model of the system in Figure Q6 above (15) 15) TOTAL MARKS. 100 FULL MARKS. 100 ° UNISA 2016i AUC401M October / November 2016 A. LIST OF FORMULAE C=102 A(s) K(a+b)= in| ~2as+a? +b?) =m yee ett _guiths ; Klas jo" ——S°—— + Kye tener 0 ylt) = ike + jojo" sinbt-+a)+K,e"" +eeerK, eh a=Rocos@ b=Rsino a+b?=R Standard quadratic form s*+2C0,8+? =0 : tan-| LE) - to] lon V1? ts = o,s1-@ 3 4 PO=100exp t, = —=-=—-_. t2 t.2 POW, wt? Co, “oe, (K; + KpB,D + B,D + MD®)x x= + saiv=e" [J faerat+o (TURN OVER]Wi AUC401M October / November 2016 K = o ee yatt)= Ske" y(t) = Ske fiitje tat a a Cc, = mi (e-r° ve] C4, =tm{ 2 fs—ry've} nl tig (s-%vell Kids" Bo. ® D+ a. aK 8, a,D°+a,D’+a,D+a, 8 p+ lpr +2g D+0%] b, | 5, a 9 UNISA 2015 (TURN OVER}1 AUCA1M October / November 2016 B. TABLES Table 1: Laplace Transform Pairs Time function f(t) Laplace transform F(s) a(t) ¢ AO A i Afort2 QandO fort<0 7 uit) 7 1 fort2 O.and 0 fort <0 7 At A s Ar an 3 z eee Hee Ko +a Acos ot As +a" Ae* 1 == wth == with the time with tthe time constant 7 constant Ae A sta Ae Fey A Ae) with R, whet) (z,8+1t,8 +1) (TURN OVER]Table 1: (Cont.) " AUC4OIM October / November 2016 Time function f(t) | Laplace transform F(s) where w,1-8? =a, Ale*-e") HA (b-a) | (sas+b) Aten wih= + A | # 7 (+7) | Are™ a (9-9! (stay He A Al-e ( | Sis) All-e A a s(s+a) Are" +R-1}mithR=t Ane t s(s+1) Ale +at-1) HHA: ae s*(s+a) Al—(+atle") A ae s(s+a)? ee“ sinat a (stay e coset (s+) (sta) +0" Le sinw, V3 een @,V1-8* $s? +250,8+ 0% (TURN OVER],Ww AUCAOIM ‘October / November 2016 Table 2: Laplace Transform Properties kf(t) Kf(s) APO a F,(s) + Fels) Fi) SF(s)-1(0) rO ‘S"F(s) - st(0) - F(0) a) s"F(s)-s"10) - (0) ey Fis), Fo") ss. 5 Fry) Fis) fo) s* s° flat) ifs) a) eat) F(s-a) tC " 0 can Sr) f() =10- to) eF(S) 7 ftlaot—ayon F(s}@is) (TURN OVER]wv AUCAOIM October / November 2016 Table 3.1: Block Diagram Transformation Theorems P = transfer function W, X, Y and Z = transformed signal Transformation Equation Block dagram Equivalent Block diagram 1] Combring Blocks n | cascade Y= Pax Lf x *4/ pp, Lo» ¥ Combing Blocks in Parallel, or Eteminating a Forward Loop 3 | Removinga Block from a Forward Path Y=PXEPX P, Ab Pape 7 | eimnanng a Feedback Loop TV Y=PiKTPY) 3 | Removinga } | Block trom a Foodback Loop Y=PAKT PAY) @a_| Rearranging ‘Summing Points Z=Waxay [TURN OVER]v AUCAOIM October / November 2016 Table 3.1 (Continued) { Transformation Equation Block dagram Equivalent Block diagram [@ [Rearrangng | Z=wex2V Summing Points [7 [Mownga Z=Pxa¥ ‘Summing Point Ahead of a Block & | Moving a Z= PREY] ‘Summing Point Beyond a Block (TURN OVER}wl AUC4OIM October / November 2016 Table 3.1 (Continued) [Transtomation Equation Block dagram Equivalent Block aigram ing =PK eee eee ul x y,|_x v Takeoff Port P > > PP +P TO | Mowng a Y=PK i |_| Takeot pont x p >| p LoS beyond a block x 1 P Tt | Mowing a Zax 7 7 j + Takeoff point 14+) ——— tena ahead of a y Jt = i summing pot, + TE | Mowing atakeot |Z=RIV pont beyond a summing point The above two tables are from Feedback and Control Systems, by JJ Distafano 111, Schaum's Theory and Problems, 1995 © UNISA 2016