MEMO MAIN EXAM, SEM 1, 2022

SUBJECT AND LEVEL CONTROL SYSTEMS II (S3)

SAPSE CODE COSY201

DATE Monday, 23rd June, 2022

VENUE SEME HALL NUMBER OF PAGES (including the front

18
page)
TIME 09H00-12H00 DURATION 3 HOURS

FULL MARKS 100 TOTAL MARKS 100

EXAMINER MR. K.G. ILUNGA

MODERATOR Dr M KABEYA

FACULTY ENGINEERING

DEPARTMENT ELECTRICAL ENGINEERING

COURSE DIPLOMA: ELECTRICAL ENGINEERING

1. Answer directly on the question paper.

2. All answers without units will be penalized, 100%.
INSTRUCTIONS 3. Draw rough sketches to illustrate your answer as appropriate.
4. Use blank and/or blue ink in your answers and diagrams; pencil is no
acceptable.

DO NOT TURN OVER UNTIL PERMISSION IS GIVEN

MARKS (For Examiners and Moderator use ONLY)

1 2 3 4 5 TOTAL DATE Signature
EXAMINER
MODERATOR

1
 QUESTION 1 (Marks: 40)

1.1 Consider the electrical system given in Figure 1 where vo(t) the voltage across the resistor R and the
capacitor C2 is considered as the output and v(t) the input. 20

C1 R C2
i(t)

vo(t)
v(t)

Figure 1: Electrical circuit

Vo ( s )
a. Finding the transfer G ( s ) =
V (s)

 1 1 
V ( s=) I ( s )  R2 + +  (1) (1)
 C1s C2 s 
 1 
V ( s ) I (s )  R2 +
=  (1) (2)
 C2 s 

 1 
I ( s )  R2 + 
Vo ( s )  C2 s  ( R2C2s + 1)C1
= = (3)
V (s )  1 1  R2C1C2 s + C1 + C2 (3)
I ( s )  R2 + + 
 C1s C2 s 

b. Substituting the values of in (3)

=
Vo ( s ) (=
10 10 s + 1)10
5 −6 −6
s + 10
(1)
V (s ) (10 10 10 s + 1)
5 −6 −6
s + 20
applying Laplace transfom
100
V (s ) = (1)
s
Finding Vo (s )
100 s + 10
Vo (s ) =x V (s ) (1)
s s + 20
s=0 ( 0.5 )
s = −20 ( 0.5 )

2
 k1 k2
Vo (s=) + (1)
s ( s + 20 )
100s + 1000
=k1 lim
= s 50 (1)
s →0 s ( s + 20 )
100s + 1000
lim ( s + 20 )
k1 = 50
= (1)
s →−20 s ( s + 20 )
50 50
Vc (s=) − (1)
s ( s + 20 )
v c (t=) 50 + 50e −20t ( 2)

c. Draw the graph of the output voltage, vo(t) versus time, t, and show (on the graph) the final value
of the vo(t). You may first fill in Table below, then draw the graph. 5marks

50.0000002

50.00000015

50.0000001

50.00000005

50

49.99999995

49.9999999
1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6

The final value is 50

3
1.2 Consider the translational mechanical system displayed in Figure 2, where the input is the mechanical
force applied f(t) to the mass M1 and the outputs are the displacement x1(t) and x2(t) of mass M1 and
M2. 20marks

x1(t) x2(t)
f(t)
k1 k2 k3
M1 M2

Frictionless

Figure 2: Mechanical system

a. Draw the free-body diagrams of this mechanical system (in s-domain). 2marks

K1X1(s)
M1 K2 (X1(s)-X2(s)) K2 (X2(s)-X1(s)) M2 K3X2(s)
F(s)

b. Write the dynamic equations of this mechanical system in s-domain. 2marks

(M s1
2
+ K1 + K 2 ) X1 ( s ) − K 2 X 2 ( s ) =
F( s) (1)
(M s2
2
+ K 2 + K 3 ) X 2 ( s ) − K 2 X1 ( s ) =
0 (1)
X2 (s)
c. Finding the transfer function G ( s ) = all the initial conditions are zero. 6marks
F (s)
Finding the transfer function
(M s1
2
+ K1 + K 2 ) F ( s )
−K 2 0 K 2F ( s )
=
(M s
1
2
+ K1 + K 2 ) −K 2 ( (M s
1
2
)
+ K1 + K 2 )( M2 s 2 + K 2 + K 3 ) − K 2 2
−K 2 (M s2
2
+ K 2 + K3 )
X 2 (s) K2
=
F(s) ( (M s 1
2
)
+ K1 + K 2 )( M2 s 2 + K 2 + K 3 ) − K 2 2

d. If the force f(t) = 10e−t, and the system’s parameters are: M1 = 0.25 Kg, k1 = 2 N/m, k2 = 4 N/m, k3 = 4 N/m,
M2 ≃ 0. Compute the displacement x2(t) of the mass M2. All initial conditions are zero. 10marks

4
 Substituting the values of in TF
X2 ( s) 4 2
= (1)
F ( s ) 4 ( 0.25s + 2 + 4 ) ( 4 + 4 ) − 16  s + 16
2 2
 
2
X
= 2 ( s) ×F( s) (1)
s + 16
2

10
F( s) = (1)
s +1
10 2
X2 =( s) × 2 (1)
s + 1 s + 16
Poles
s = −1
s1 ,s 2 = ±4 j
k1 k2 k3
X 2 (s) = + + (1)
( s + 1) ( s + 4 j ) ( s − 4 j )
20 20
=k1 lim = ( s + 1) (1)
x →−1
( s + 1) ( s + 16 )
2
17
20 20 40 + 10 j
k1 =lim ( s + 4 j) =
− =
x →−4 j ( s + 2 )( s − 4 j )( s + 4 j ) −32 − 8 j 68
10 5 −
k1 = + j =k 3 (1)
17 34
20 10 5 10 5
+ j − j
Vc (s) = 17 + 17 34 + 17 34 (1)
( s + 2) ( s + 5 j) ( s − 5 j)
20 − t  10 5  −4 jt  10 5  4 jt
Vc (s)= e +  + j  e +  − j  e (1)
17  17 34   17 34 
20 − t 10 5
V
=c (s) e + − ( e 4 jt + e −4 jt ) − j ( e 4 jt − e −4 jt )
17 17 34
20 − t
Vc (s) =
17
( e + cos 4t − 5 sin 4t ) (1)

QUESTION 2 (Marks: 20)

Consider the electrical network shown in figure 3 where the voltage vc(t) is the output and v(t) a unit step
input.

1H R2

v(t) i1(t) 2MΩ i2(t) C vc(t)

Figure 3: Electrical Network

5
 Writting loop equations
( R1 + Ls ) I1 ( s ) − R1I2 ( s ) =
V ( s ) ( 2) (1)
 1 
−RI1 ( s ) +  R1 + R2 +  I2 ( s ) =
0 ( 2) (2)
 Cs 
Finding R 2 and C
solving I2 (s )
R1 + Ls V ( s )
−R1 0
I2 (s ) = ( 2)
( R1 + Ls ) −R1
 1 
−R1  R1 + R2 + 
 Cs 
R1Cs
I2 = V (s) (1) (3)
( R2 + R1 )CLs + (CR2R1 + L ) s + R1
2

1
I2 ( s ) can also be found from Vc ( s ) = I2 ( s ) (1) (4)
Cs
Vc ( s ) R1
Thus = (1) (5)
V ( s ) ( R2 + R1 ) CLs + (CR2R1 + L ) s + R1
2

Substituting values
Vc ( s ) 2 × 106
= (1) (6)
Vi ( s ) ( R2 + 2 × 106 ) CLs 2 + ( 2 × 106 CR2 + L ) s + 2 × 106
1
2 × 106
( R2 + 2 × 106 )C
(1) (7)
s2 +
( 2 × 10 CR + 1) s +
6
2 2 × 106
( R + 2 × 10 )C ( R
2
6
2 + 2 × 10 ) C
6

4
=Ts 0.001sec,⇒=
ζ ωn = 2000 (1)
0.002
− ln0.08
%OS = 8%,⇒ ζ = = 0.627 (1)
π + ln2 0.08
=ζωn 2000,thus
= ωn 3189.79rad / s
2 × 106
3189.792 = (1)
( R2 + 2 × 106 )C
0.01965
C= (1) (8)
( R2 + 2 × 106 )
2ζωn = 4000
2 × 106 CR2 + 1
= 4000 (1) (9)
( R2 + 2 × 106 )C

6
 Substituting C in (8)
106 786 ( R2 + 2 × 106 )
393000R2 + R2 + 2 ×= (10)
392215R2 = 1570000000
=R2 4002.906Ω ( 2 )
Substituting R2 dans (8)
C = 1.957.10-2 µ F ( 2 )

QUESTION 3 (Marks: 20)

3.1 Consider the block diagram of a position servomechanism with a PD controller shown in Figure 4.

+ E (s) 1
R( s) k (1 + TD s ) C (s)
- s ( Js + f )

Figure 4: Position Servomechanism block diagram

C (s)
a. Find The equivalent transfer function T ( s ) = (show all the reductions steps). 5marks
R (s)
1 k (1 + TD s )
G ( s ) =k (1 + TD s ) × = ( 2)
s ( Js + f ) s ( Js + f )
k (1 + TD s )
s ( Js + f ) k (1 + TD s )
T ( s) = = ( 3)
k (1 + TD s ) s ( Js + f ) + k (1 + TD s )
1+
s ( Js + f )

b. Compute the velocity error of the system. 5marks

1
e (∞) = (1)
Kv
k (1 + TD s ) k
Kv= lim s = ( 2)
s →0 s ( Js + f ) f
1 f
e (∞) = = ( 2)
k k
f

7
 3.2 Given the block diagram shown in Figure 5: 10marks

+ E (s) 0.5s + 1 1
R( s) K = 100 C (s)
- 0.3s + 1 s2 + s + 4

Figure 5: Controller block diagram

C (s)
a. Find The transfer function T ( s ) = (show all the reductions steps).
R (s)
0.5 + 1 1
G( s) =
100 × × 2 ( 2)
( 0.3s + 1) ( s + s + 4 )
50s + 100
T ( s) = ( 2)
( 0.3 + 1) ( s + s + 4 ) + ( 50s + 100 )
2

b. Find the steady-state error for the unit step input 2marks

50s + 100
=Kp lim
= 25
( )(
s → 0 0.3 + 1 s 2 + s + 4
)
1 1
e ( ∞ )= = = 0.04
1 + Kp 26
c. Find the steady-state error for the unit ramp input. 2marks

Type 0 system Kv=0. e(∞)=∞

d. Find the steady-state error for the unit parabolic input. 2marks

Type 0 system Ka=0. e(∞)=∞

QUESTION 4 (Marks: 20)

4.1 10marks
Input Controller Plant Load
radians Input radians
Servo Amplifier Servo-motor Valve
Potentiometer

Feedback
Potentiometer

Block diagram of position servomechanism

8
4.2 Multiple choice questions. 6marks

I. Complete the following sentence:

Control engineers are concerned with understanding and controlling segments of their environments, often
called
a. Systems (1)

II. Complete the following sentence:

An open-loop control system utilizes an actuating device to control a process
a. without using feedback
III. Control engineering is applicable to which fields of engineering?

d. All of the above (1)

IV. Which of the following element is not used in an automatic control system?

c. Oscillator (1)

V. The output of the feedback control system must be a function of ____________

b. Input and feedback signal (1)

VI. In a control system the output of the controller is given to

c. Final control element (1)

4.3 Name four advantages of an open loop control system. 4marks

• Simple in construction and design. (1)

• Economical. (1)
• Easy to maintain. (1)
• Generally stable. (1)
• Convenient to use as output is difficult to measure. (1)