MM403 CONTROL SYSTEMS HOMEWORK 2 Prepared by Nurdan Bilgin FORMAT, RULES AND GRADING: Format: 1.

Homework must be written using a computer and it must be written in English 2. Extra cover page is necessary, Your Instructors name will be written at the top of the page. Your name, surname and student ID will be written at the bottom of the page on the right corner. 3. All questions should start with a new page. 4. Please use narrow margin 5. Homeworks should be submitted in a stapled form. Dont use any file holder. Rules: 1. There is no tolerance to plagiarism. Team work should not exceed beyond to discuss the solutions. Please don't cheat the homework of someone else. We do not expect such an undesirable circumstance. This type of homeworks will be excluded from evaluation. 2. All sources except your lecture notes should be properly referenced. 3. When using MATLAB or SIMULINK, you must supply all the input/output evidences in a printed form. 4. You should indicate all necessary explanations and details clearly in your solutions. 5. You must submit your homeworks exactly on the submit time. It won't be accepted late submissions. Grading: Homeworks will influence your score at the rate of 15%. All questions except question 4 are equally weighted and . question 4 is 10 points.

For Homework 2 Submission Date: 22/11/2013 Location: Automatic Control Lab. is in the Laboratory Building on the ground floor.

QUESTIONS Question 1: Simplify the block diagram shown in the Figures 1 and 2 by using signal flow graph and Gain Formula (Masons rule) and obtain the closed loop transfer function between input and output. Afterwards, verify your result by using algebraic manupulations and block diagram algebra.

Figure 1

Figure 2

Question 2

Figure 3 a) Explain the following concepts briefly but clearly. Redraw the figure 3 according to this concepts. i. Servo Characteristic of a control system ii. Regulator Characteristic of a control system b) Explain the Sensitivity term briefly but clearly. Drive the sensitivity equation. Discuss the sensitivity equation for large loop gain. Question 3 Consider the figure 3 where proportional plus derivative controller is used as the feedback control strategy (i.e. transfer function is a) Determine the closed-loop transfer function MR(s) between the output C(s) and the reference input R(s) b) Determine the closed-loop transfer function MD(s) between the output C(s) and the disturbance input D(s) c) Determine the sensitivity expressions d) Explain why the sensitivity is zero at steady state (s=0). ); Plants transfer function is and Measurement device

Question 4 Consider the speed control of a disk by using a DC electric motor. The mass moment of inertia of the disk is J, the voltaje applied to the motor [controlled input] is u(t), and torque output of the motor is given by

Where is the rotational speed of the motor shaft. Assume that the voltage applied to the motor is changed such that [ ]

Where represents the desired disk speed [Note that (2) implies P-control]. Here, and should be thought of the voltages due to a potentiometer and tachometer with unity gains. Determine the range of K such that, at steady state, uncertainity in does not exceed due to uncertainity in and uncertainity in for (where h(t) is unit step input.)

Question 5 For the following heating system

Figure 4 The mathematical representation is given by the following set of equations Elemental equations (1) (2) (3) (4) Continuity equations (5) (6) (7) a.) Determine the transfer functions between the temperature of room 2 (T2) and heat source q(t). b.) Draw the detailed block diagram.

Question 6 (Taken from Exam. Question which is prepared by Balkan+Platin for midterm 1 of the course ME304 at Metu Mech. Eng. Depart. in 2009 spring

The block diagram above represents a combined open loop and unity feedback control system, where the temperature of a chamber is to be controlled. The parameters and variables involved are: C: Thermal capacitance of the chamber R: Thermal resistance between the chamber and its environment K: Gain of the proportional controller GOL (s): Transfer function of the open loop controller T(s): Temperature of the chamber Tr(s): Reference temperature; i.e., desired chamber temperature To(s): Ambient temperature Tm (s): Estimation of the ambient temperature, which is available as the measurement of an uncalibrated thermometer, whose transfer function is given as

where t is the time constant of the thermometer. a.) Complete the block diagram above to reflect all features of this combined control strategy. b.) Determine G OL (s) such that the effect of the ambient temperature fluctuation on the chamber temperature will completely be eliminated. c.) Suppose that GOL(s) = Ko is used. Then, derive an algebraic expression for the gain K of the proportional controller such that the uncertainty on the closed loop transfer function between T(s) and Tr(s) will be limited to 1 % at steady state if the uncertainties in system parameters R, C, t, Ko are known to be 10 % each and no uncertainty exists on K. Hint: s 0 at steady state.