B.ENG.(HONS.

) ELECTRICAL & ELECTRONIC ENGINEERING

YEAR II – SEMESTER I
FEBRUARY 2021 SESSION OF EXAMINATIONS

SCE 2111 – AUTOMATIC CONTROL SYSTEMS 1 19th Feb. 2021

Time: 08:30 – 10:30 + 45 mins upload and download time

This paper contains FOUR questions. You are to attempt THREE.

Stationery: Mathematical booklet

Laplace tables
Use of calculators is allowed

1. Figure 1 shows a liquid level system with two tanks.

Figure 1

H2 (s)
a. Derive the transfer function Qi (s)
for this system.
(15 marks)
2 3 −1 3 −1
b. Given that A1 = A2 = 1m , R1 = 0.1m s and R2 = 0.2m s , find the
system’s:
i. natural frequency of oscillations,
(2 marks)
ii. damping ratio,
(2 marks)
iii. damping factor, and
(2 marks)
iv. time constant.
(2 marks)
Quest. 1 cont . . . / 2

Page 1 of 6
Quest. 1 . . . contd.

v. Hence state if the system is under, over or critically damped giving a clear
reason for your answer.
(2 marks)
c. The system response is now to be slowed down by doubling the system’s time
constant. Only the valve resistance R1 may be changed. Find this new value
of R1 required to obtain such a system.
(8 marks)

Page 2 of 6
2. Figure 2 depicts the schematic of a positional electro-mechanical servo system driven
by a DC motor.

Figure 2

a. Derive the transfer function for this positional servo system given by θθoi (s)
(s)
,
stating clearly an assumptions made.
(8 marks)
b. Obtain an expression for the system’s damping ratio based on the system’s
parameters and hence clearly explain the system’s performance for different
values of viscous damping.
(5 marks)
c. Given that:
• kp , the input and output potentiometer constant = 2V/rad,
• Rf , the field coil resistance = 5Ω,
• kt , the motor torque constant = 0.5Nm/A,
• n, the speed reduction gearbox constant = 10,
• Jm , the inertia of the motor shaft = 0.1Nms2 ,
• Dm , the damping constant due to friction at the motor shaft = 0.1Nms,
• Jo , the inertia of the output shaft = 2Nms2 and
• Do , the damping constant due to friction at the output shaft = 1Nms;
find the differential amplifier gain, A, to obtain a system with a damping ratio
of 0.5.
(5 marks)
d. Derivative feedback is now to be used to obtain a critically damped system.
i. Redraw the block diagram of the servo mechanism this time including
derivative feedback (stating clearly any assumptions made).
(3 marks)
ii. Hence obtain a transfer function for the servo mechanism with derivative
feedback.
(6 marks)
Quest. 2 cont . . . / 4

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Quest. 2 . . . contd.

iii. Find the tachometer gain constant required to obtain a critically damped
system. (Assume that the amplifier gain found in question 2c remains
unchanged.)
(6 marks)

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3. Consider the electrical circuit depicted in Figure 3.

Figure 3

Vo (s)
a. Derive the system’s transfer function Vi (s)
, stating clearly any assumptions made
(10 marks)
b. Given that C = 100µF , L = 1H and R = 1kΩ and that the system is subject
to a step input of 10V , find a expression for the output voltage in the time
domain (i.e. vo (t))
(12 marks)
c. Show the system’s poles and zeros on an s-plane and hence comment on the
system’s behaviour to a step input.
(3 marks)
d. Given the system’s poles, explain why this system’s behaviour can be approx-
imated by a first order system and suggest a first order transfer function with
similar behaviour to a step input, giving clear justifications for your choice.
(8 marks)

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4. a. For the block diagram of Figure 4, give the closed loop transfer function YR(s)
(s)
.
(10 marks)

Figure 4

1 1
b. For the system of Figure 4, given that G1 (s) = s+1
, G2 (s) = s+2
, G3 (s) =
1
s+3
, H1 (s) = 1 and H2 (s) = 1:
i. Show the system’s poles and zeros on an s-plane
(6 marks)
ii. Hence comment on the system’s behaviour to a step input, giving clear
reasons for your answers.
(3 marks)
iii. Given that the system is subject to a unit step input, sketch the system’s
output, finding and marking clearly the system’s steady state value.
(6 marks)
c. For the system shown in Figure 5, derive an expression for the output Y (s) in
terms of the input signal R(s) and the disturbance input D(s). Hence suggest
a reasonable design choice for the gain terms G1 (s) and G2 (s) to ensure good
disturbance rejection.
(8 marks)

Figure 5

Page 6 of 6