Control Engineering

NPTEL Online Course (Jan-Apr 2019)

Indian Institute of Technology Madras
Assignment 11 Solutions
1. Some of the standard errors considered in Gyroscopic modelling are
(a) Fixed Bias [correct]
(b) Bias Stability [correct]
(c) Cross Axis Response [correct]
(d) Flicker Noise [correct]
Solution: Refer Week-11 : Lecture-2:Part-1 (32:47 min)

Common Data Question (Q2-Q4)

Suppose we want to measure the true angular velocity of a pump rated 1HP and 1500 rpm. We
can place a sensor on the shaft of the pump in order to measure the angular velocity. Let us
assume that due to improper mounting of the motor, there is a (5Hz low frequency) vibration
from the entire pump. The sensor can also measure this low frequency noise and may produce
erroneous measurements. Let us design a system to remove the noise and measure the desired
signal.
2. Which sensor would you use to perform the above measurement?
(a) Gyroscope [Correct]
(b) Tachometer
(c) Ammeter
(d) Frequency meter
Solution: Gyroscope is preferred because it measures the angular velocity directly and ensures
least error in the measurements.
3. Would you use a 3-axis or 2-axis or 1-axis sensor to measure the angular velocity?
(a) 1-axis sensor [correct]
(b) 2-axis sensor
(c) 3-axis sensor
(d) 1-axis and 2-axis sensors combined
Solution: The motor shaft rotates only along one axis. Hence, 1-axis sensor is used to measure
the angular velocity.
4. What kind of filter would you design to eliminate the vibrations in the measurements?
(a) Low pass filter
(b) High pass filter [Correct]
(c) Band pass filter

1
 (d) All pass filter
Solution: Since the noise is of low frequency, we use a high pass filter to eliminate the noise
due to vibrations.

Consider the following circuit digram for Q5 and Q6


v
R vo

5. Find the transfer function( vvoi (s)

(s)
) of the given circuit with R = 1Ω and C = 1F with vi be input
voltage and vo be output voltage
s
(a) 1+s [correct]
1
(b) 1+s
2s
(c) 1+s
2
(d) 1+s

Solution: By voltage division rule,

vo (s) R s(RC)
= =
vi (s) 1 + R/sC R + sC
vo (s) s
=
vi (s) 1+s

6. The transfer function obtained above for the circuit represents which of the following filter.
(a) Low pass filter
(b) High pass filter [correct]
(c) Band Pass filter
(d) Band Reject filter
Solution: At high frequencies capacitor acts as short circuit and all the input appears at the
output, thus the high pass circuit does not affect the high frequency signal. The bode plot of
the transfer function obtained in Q5 clearly shows the magnitude response of the filter is of High
pass filter.

2
 Bode Diagram
0

-10

Magnitude (dB)
-20

-30

-40

-50
90
Phase (deg)

45

0
10 -2 10 -1 10 0 10 1 10 2
Frequency (rad/s)

Figure 1: Bode Plot

7. A 3-axis gyroscope fixed to a vehicle is measuring the rotational velocity (of that vehicle). It
is known that one axis has a constant bias, the remaining two axes have a noise component of
50Hz. It is also known that the vehicle’s rotational motion is around 20Hz. All three gyroscope
axes data are passed through the same single filter. Which filter would you use in this situation?
(a) A low pass filter with cut-off frequency 20Hz
(b) A band pass filter with lower cut-off frequency 20Hz and upper cut off frequency 60Hz
(c) A high pass filter with cut-off frequency 60Hz
(d) A band pass filter with lower cut-off frequency 5Hz and upper cut off frequency 30Hz
[Correct]
Solution: The 3 axis gyroscope has a constant noise (bias) in axis 1 and a 50Hz noise component
in axis 2 and axis 3. We have only one filter which we can use. And the signal of interest has
a 20Hz component. So we want to pass the 20Hz an we want to eliminate the constant bias (0
Hz) and the 50Hz noise. Hence, (d) is correct solution.