Middle East Technical University

Mechanical Engineering Department

1956


ME 304 CONTROL SYSTEMS
Spring 2013
Sections 01, 02, 04

Course Instructors: Dr. Tuna Balkan, Dr. Bura Koku, Dr. Yiit Yazcolu

MIDTERM EXAMINATION II

May 2, 2013
Time Allowed: 120 minutes
Open Notes and Books
All questions are equally weighted



Student No. : ..
Name :
SURNAME : ..
Signature : ..







1

2

3



ME304(Sections01,02,04)/13S/MT2/Balkan,Koku,Yazcolu Page 1
PROBLEM 1
Consider a unity feedback control system with the block diagram given below.

a) Determine the stability of the open loop system.
b) Determine the closed loop transfer function and show that the characteristic polynomial is

4 3 2
6s 11s 6 K s Ka D(s) s =
c) Determine an expression for the range of the controller parameter a for a stable system (a>0,
K>0). Indicate the stable region in a-K parameter plane sketch.
d) Determine the controller gain K>0 for stability borderline if a=5.
e) Determine type number, steady state gain and conditions on the controller parameters a and K
such that the steady state error is less than 2 for a unit ramp input. Show the region on your plot.
Solution:
a) Open loop transfer function


o
K s a
G (s)
s s 1 s 2 s 3

Marginally stable due to a pole located at the origin while the others are at the left hand s-plane.
b)





4 3 2
6s 11s 6 K s Ka o
K s a
1
s 1 s s 2 s 3 K s a K s a
M(s)
1 G (s) s s 1 s 2 s 3 K s a
s

c) Characteristic poly.
4 3 2
6s 11s 6 K s Ka D(s) s = . Apply Routh criterion for stability.
s
4
1 11 Ka

s
3
6 6+K
s
2

3
6 K
b 11
6

Ka
s
1
3
3
6Ka
c K 6
b


s
0
Ka
Note that, b
3
and c
3
should be positive for stability.
(60-K)>0K<60 and [b
3
(K+6)-6Ka]/b
3
>0(60-K)(K+6)-36Ka>0
60 K K
a
36K
6

d) Marginal stability c
3
=0
2
K (36a 54)K 360 0 and for a=5K=2.8
e) Type 1 system
OL
Ka
K
6

ss
OL
1 6
e
K Ka
so e
ss
<2a>3/K and
60 K K
a
36K
6

, K<60
0
20
40
60
80
100
120
0 1 2 3 4

1
s 3 s s 2
R(s) C(s)
s a
s 1
K

+
_
K
Region satisfying error requirement
a
Stability border
Error border
ME304(Sections01,02,04)/13S/MT2/Balkan,Koku,Yazcolu Page 2
PROBLEM 2
A DC-motor with plant transfer function G
p
(s) will be controlled using a P-controller with gain K
p

and a sensor in the feedback loop with gain K
s
. The objective will be angular position control of the
motor shaft. The motor gain is given as K
m
= 10 rad/(V.s) and motor time constant is given as T
m
=
0.1 s. The sensor has a gain of K
s
= 5 V/rad.
0
p
(s) =
K
m
s(1
m
s+1)
0
c
(s) = K
p
E(s) = K
s

a) Find the type number of the uncontrolled plant and closed loop system? Can the closed loop
controlled system track a unit step input with bounded steady state error?
b) If possible, select a controller gain K
p
so that the damping ratio for the closed loop system is =
0.5.
c) If possible, select a controller gain K
p
so that the closed loop system has an undamped natural
frequency
n
= 20 rad/s and damping ratio = 0.5.
d) Where are the poles of the uncontrolled plant initially? Where will the poles move to when the
system is controlled by a P-controller with gain K
p
= 1? What will be the undamped natural
frequency
n
and damping ratio for this controller gain?
e) What will be the final value of the response of the uncontrolled plant and closed loop controlled
system with K
p
= 1 for a unit impulse input? Comment on the stability of the uncontrolled and
closed loop controlled system based on the final value of the impulse response.
Solution:
a) The uncontrolled plant transfer function is
0
p
(s) =
K
m
s(1
m
s+1)
therefore the uncontrolled system is of type 1.
Under the action of closed loop control, this system has an open loop transfer function given by,
0(s)E(s) = 0
c
(s)0
p
(s)E(s) =
K
p
K
m
K
s
s(1
m
s+1)
therefore the closed loop controlled system is also of
type 1.
So, the closed loop controlled system under the action of P-controller and the provided sensor will
track a step reference input with zero error at steady state.
b) The closed loop transfer function for the system under the action of P-controller and the given
sensor is
C(s)
R(s)
= 0
CL
(s) =
u(s)
1+u(s)H(s)
=
u
c
(s)u
p
(s)
1+u
c
(s)u
p
(s)H(s)
=
K
p
K
m
1
m
s
2
+s+K
p
K
m
K
s
=
K
p
K
m
T
m
s
2
+
1
T
m
s+
K
p
K
m
K
s
T
m
= K
o
n
2
s
2
+2o
n
s+o
n
2

where
2
n
=
1
1
m

n
2
=
K
p
K
m
K
s
1
m
K
n
2
=
K
p
K
m
1
m
K =
K
p
K
m
T
m
o
n
2
=
K
p
K
m
T
m
K
p
K
m
K
s
T
m
=
1
K
s

Using the numerical system parameters given as,
K
m
= 1u I
m
= u.1 K
s
= S and required = u.S

n
=
1
21
m
= 1u iaus K
p
=
o
n
2
1
m
K
m
K
s
= u.2 K =
1
K
s
= u.2
ME304(Sections01,02,04)/13S/MT2/Balkan,Koku,Yazcolu Page 3
c) Using the numerical system parameters given as,
K
m
= 1u I
m
= u.1 K
s
= S and required
n
= 2u rad/s = u.S
Since 2
n
= 2u =
1
1
m
= 1u, it is not possible to design a P-controller resulting in the required
system parameters.
d) Using the numerical system parameters given as,
K
m
= 1u I
m
= u.1 K
s
= S and given K
p
= 1
0
p
(s) =
K
m
s(1
m
s+1)
therefore the uncontrolled plant poles are at s = u and s = -
1
1
m
= -1u
C(s)
R(s)
= 0
CL
(s) =
K
p
K
m
T
m
s
2
+
1
T
m
s+
K
p
K
m
K
s
T
m
= K
o
n
2
s
2
+2o
n
s+o
n
2

Characteristic polynomial for the closed loop controlled system is
s
2
+
1
1
m
s +
K
p
K
m
K
s
1
m
=s
2
+2
n
s +
n
2
=s
2
+1us +Suu
The closed loop poles are at s
1,2
= -S _]21.8 = -
n
_
n
1 -
2

with
n
2
=
K
p
K
m
K
s
1
m
= Suu 2
n
=
1
1
m
= 1u
so
n
= _
K
p
K
m
K
s
1
m
= 22.4 rad/s and =
1
2o
n
1
m
= u.22
e) Using the numerical system parameters given as,
K
m
= 1u I
m
= u.1 K
s
= S and given K
p
= 1; also for unit impulse input R(s) = 1
The uncontrolled plant transfer function is
0
p
(s) =
K
m
s(1
m
s+1)

The closed loop transfer function is
C(s)
R(s)
= 0
CL
(s) =
K
p
K
m
T
m
s
2
+
1
T
m
s+
K
p
K
m
K
s
T
m
= K
o
n
2
s
2
+2o
n
s+o
n
2

Using the final value theorem the steady state response of uncontrolled plant to unit impulse input is
c
ss
= c() = lim
s0
s0
p
(s) = lim
s0
s
K
m
s(1
m
s+1)
= K
m
= 1u
Again, using the final value theorem the steady state response of closed loop controlled system to
impulse input is
c
ss
= c() = lim
s0
s0
CL
(s) = lim
s0
s
K
p
K
m
T
m
s
2
+
1
T
m
s+
K
p
K
m
K
s
T
m
= u
Therefore, since the impulse response of the uncontrolled plant is finite at steady state, the
uncontrolled plant is marginally stable.
On the other hand, since the impulse response of the closed loop controlled plant is zero at steady
state, the closed loop controlled system is (asymptotically) stable.
ME304(Sections01,02,04)/13S/MT2/Balkan,Koku,Yazcolu Page 4
PROBLEM 3


While searching for a charger for his cell phone, Mr. Dumass
1
bumps into a Green Peace sponsored
human-powered charging station. At this station, you run inside a squirrel wheel
2
and the rotary
motion you generate eventually charges your phone!
In this setup, rotating wheel is connected to an electric motor via a gearbox (the gear radii are
indicated on the figure to be r
1
and r
2
). The electric motor acts as a generator and charges the phone
(where the phone battery is approximated by a capacitor of capacitance C in this case).
While running Mr. Dumass runs and rotates the wheel at an angular velocity of (t), through the
gearbox and the electric motor this rotation generates the potential difference that eventually
charges the capacitor (i.e. the phone). The voltage across the capacitor is given as v(t). The internal
resistance of the electric motor is R, back e.m.f. and torque constants are K
b
and K
t
respectively,
where the inductance of the motor coil is neglected.
a) Show that the transfer function angular velocity of squirrel cage and capacitor voltage is
I(s)
0(s)
= K
b
r
1
r
2
1
(RCs +1)

Mr. Dumass somehow manages to reach at a constant speed (causing (t) = 25 rpm) immediately
as he starts running and maintains constant speed for some time. If Mr. Dumass can keep up the
pace, his phone battery will be fully charged at 3.7 Volts. The first 100 seconds of the charging
process is given in the figure below.
b) If Mr. Dumass stopped running after
150 seconds, to what percentage is the
battery charged?
c) If Mr. Dumass wants to fully charge the
phone (i.e. capacitor is charged to at least
99% of its full charge value) after how
many seconds can he stop running?
d) If K
b
= u.uu4 Irpm what is

1
2
?
Hint: You can round off the values you get
from the figure to make your calculations
simpler.

1
http://www.youtube.com/watch?v=tMe3WDmxBEI
2
Runningmanimageistakenfrom:http://www.toonpool.com/user/3652/files/spinning_wheel_man_running_531975.jpg
r
1
r
2
gearbox
(t)
v(t)
Capacitor
ME304(Sections01,02,04)/13S/MT2/Balkan,Koku,Yazcolu Page 5
v
R

R
C
v
M
r
1
r
2

v + v
R
= v
N

i
v
N
Solution:

a) Show that the transfer function
v(s)
U(s)
= K
b

1

2
1
(RCs+1)

The electric circuit can be drawn as follows: - you can refer back to 2012 MT2 Alonzo question

The gearbox yields:
r
1
=
M
r
2

Voltage generated by electric
motor is distributed over R
and C
: +:
R
= :
M

Voltage over resistor is iR,
and current through capacitor
is C
d
dt
, voltage generated by
electric motor is K
b

M

: +iR = K
b

M
: +RC
d
dt
= K
b

1

2
to Laplace domain I +RCsI = K
b

1

2
0
Finally:
v(s)
U(s)
= K
b

1

2
1
(RCs+1)




To answer the remaining questions find
the time constant T of the first order
system from the given plot by using its
slope at t = 0 and its final value of 3.7
Volts.
Draw a tangent line to the response curve
at t = 0 which will intersect 3.7 Volts at
around 50 seconds. Hence T can be taken
as 50.




b) 150 seconds corresponds to 3T and hence battery should be charged to 95% of its final value
in 150 seconds
c) To charge the capacitor to 99% of its final value running for 5T is enough, hence, after 250
seconds Mr. Dumass can stop running.
d) We know that y
]
= Kx
0
y
]
= K
b

1

2
x
0
given that y
]
= S.7, K
b
= u.uu4 and x
0
= 2S
Hence S.7 = u.uu4

2
2S

2
= S7