BIRLA INSTITUTE OF TECHNOLOGY & SCIENCE, PILANI (RAJASTHAN) FIRST SEMESTER 2005-2006 AAOC C321 Control Systems Comprehensive

Examination (Closed Book) Part- A and B Date 08-12-2005 Time: 1 Hr. NOTE: Total Time: 3 Hrs Part- A (i) Number of questions: 23 (ii) Number of blanks : 30 (iii) Each blank carries one mark ID No: Sec. No. Max Marks: 120 Maximum Marks: 30

Name: Q.1

When a system satisfies the property of superposition and is nonlinear, it is due to not satisfying the property of________________.

Q.2

The forward path gain of a regenerative feedback system is G(s) and feedback path gain is H(s). The transfer function of the system is ____________. Q+Qi

Q.3

For

the

system

shown

in

Fig

Q.3

the
H+H R

transfer function H(s)/Qi(s) is ___________. Assume capacity of tank as C. Q.4

Fig Q.3

Q+Qo

For a multi-input (R1 and R2) and multi-output (C1 and C2); the characteristic equation for one set of input and output (R 1 and C1) is s3 +3s2 +3s +1=0. The characteristic equation for other set of input and output (R 2 and C2) will be (Same/Different) _______________.

Q.5

A DC servomotor (Jm & Bm are neglected) is connected through a gear train of reduction ratio 1:10 to load having inertia 1kgm2 and friction coefficient 0.5 Nm/rad/s. The equivalent inertia and friction coefficient referred to the motor side are _____________ and _____________ respectively.

Q.6

For the system shown in Fig Q.6 sensitivity of the closed loop system to small changes in K (K = 0.002) at = 0 rad/s is _________. 1/(1+s) R(s) 1 1 C(s)

Q.7 Q.8 Q.9

The ac servomotor is a _____________phase induction motor. K 10 In controlFig Q.6 the synchro pair is used as_____________________. systems Pneumatic relay acts as a/an_________________________ in Pneumatic systems. PTO

Q.10

T=J

d 2 d + B + K is the torque equation of the rotational system where J, B, K are 2 dt dt

constants. If this system is excited by a step input, the value of is__________and is_________. Q.11 Unit step response of a system is (1 e is________. Q.12
t

). The impulse response of the system

The open loop transfer function of a negative feedback system is (s+4)/[s(s+2)]. It is a Type ________ system and steady state error due to parabolic input is______.

Q.13

By the use of derivative error compensation scheme, ___________ and settling time_____________.

Q.14

The characteristic equation of a negative feedback system is s 3+ Ks2+5s+10=0.The value of K for system to be marginally stable is__________.

Q.15

A unity negative feedback system, having open loop transfer function as K/[s 2(s+7)]. The range of K for given system to be unstable is_____________________.

Q.16

The open loop transfer function of a negative feedback system is K/[s(s+8)]. The number of root loci is/are ________ and the value of K for system to be critically damped is ________.

Q.17 Q.18

An octave range is specified by Starting slope of

2/ 1 =_________.
Bodes magnitude plot is given

the

by___________________________. Q.19 Q.20 Error in Bodes magnitude plot due to term (1+j T)
2

at 1/T is __________db.
3

The open loop transfer function of a system is 10/(s+5) . The gain margin of the system is________db.

Q.21

The frequency plot of a system is given in Fig Q.21. For gain margin to be 2 db the value of P is ___________and for phase margin to be 30 the value of -1 -P

. .

is__________.

Unit Circle

Fig Q.21 Q.22 Q.23 The Nyquist stability criterion is based on the principle of ______________________. In Nyquist stability criterion N = P Z. Where N is_____________________________ and Z is _____________________________.

Birla Institute of Technology and Science, Pilani First semester 2005-2006 AAOC C321: Control Systems Comprehensive Examination (Part B) Date:08.12.2005 Time: 2 Hrs MM: 90

Q.1 For the block diagram shown in Fig Q.1, draw the equivalent signal flow graph (clearly showing R, E, P, Q, S, T, C variables) and then find the closed loop transfer function
C(s) using Masons gain formula. R(s)

[15] P + Q

G1(s)

R(s) +

E + S G2(s) Fig Q. 1 T

+ +

C(s)

Q.2

A hydraulic system with lever feedback is shown in Fig Q. 2. Compute connections of ports A to C or D and B to C or D so that system works in negative feedback mode. Assume that valve coefficient is Kv and the area of piston is A. The rate of oil flow to the piston is Q = Kv x Kr P, where x is the valve opening, P is the supply pressure and Kr is a constant. For this system

(i) (ii)

Draw the block diagram Obtain the transfer function Y(s)/E(s) where y is the displacement of mass M. [10+5] Sump e a Pump Sump

b C K2 B2

B D K1

M
B1 Fig Q. 2 PTO

Q.3 (i)

For the system whose block diagram is given in Fig Q. 3 Determine the steady state error corresponding to an input of u(t) + 3t u(t). Draw root contours of the system on your answer sheet for K = 3 and 5. What will

(ii)

be the value of

for to be 0.707 in both the cases?

(iii)Now suppose a zero is introduced at s = draw root locus of the system on your 3, answer sheet (take K =0). [5+10+5]

R(s)

K+

1 (s + 6)

C(s)

F Fig Q. 3 Q.4 The open loop transfer function of a system is given by: G(s)H(s) = (1 +0.25 s)/[s(s+0.5)(s+10)] Draw the Bodes magnitude (asymptotic) and phase plot for the system on the semi-log graph sheet provided. From the plot, determine the Gain Margin and Phase Margin of the system and comment on the system stability. Q.5 [20]

Sketch the Nyquist plot for a system whose open loop transfer function is K (s 4)/[(s+2)(s+3)], choosing the appropriate Nyquist contour. Determine the range of K for which the closed loop system is stable. [20]