48560 Introduction Control Autumn 2014

Assignment 2

Question 1: 35-mm Camera [30 marks]

The charge-coupled device (CCD) which is used in video movie cameras to convert the image into
electrical signals can be used as part of an automatic focussing system in 35-mm cameras as shown
in Figure 1a. The automatic focus system is a position control, where the desired position of the lens is
an input selected by pointing the camera at the subject. The output is the actual position of the lens.
The open-loop transfer function of this focussing system is

1.1 Determine a phase-lead controller Gc(s) of the form

for a closed-loop system shown in Figure 1b so that the controlled system has a time constant of =
0.5 sec with a damping ratio of = 0.707 .
[20 marks]

1.2 Obtain the unit step response and the corresponding control effort u(t). Determine the stability
margins of this system.
[10 marks]
Question 2: Urban Heating Network [30 marks]
At the Heating Company of Grenoble, the differential pressure between the departure and arrival
water from the urban heating network has to be kept constant. The functional diagram of the network
differential pressure is shown in Figure 2a. The two pressures are measured and their difference y =
P = P1 - P2 is compared with a reference value r = P*. The control action is the rotation speed u =
of the electrical motor which drives the impeller of the pump mounted on the departure branch of the
network.
2.1 The open-loop transfer function of this system is given by
() 0.5
() = = 2
() ( + 0.6 + 0.5)(1 + 04)
Based on the Ziegler-Nichols' ultimate cycle method, design a PID controller Gc1(s) of the form

for a closed-loop system as shown in Figure 2b. Determine the stability margins of this system. Obtain
the unit step response.
[20 marks]

2.2 The above PID controller may be modified for better performance. The general format for this PID
controller has the following form

Keeping the value of K the same as in the above question, determine the modified controller Gc2(s) so
that the compensated system has a phase margin of 40. Obtain the unit step response.
[10 marks]
Question 3: Hydraulic Turbine [40 marks]
The functional block diagram of a hydraulic turbine and governor system is shown in Figure
3a. The machine speed y(t) is controlled by varying u(t) which is the gate position. The inertia
effect of the water is characterised by the water start time constant denoted by w and the
machine inertia is characterised by the mechanical time constant m. The open-loop transfer
function of this system is given by

where m = 6 sec, and w = 1.5 sec for typical generator values.

The above system may also be approximated by the following second-order model

3.1 Design a state-variable feedback controller Kc for a closed-loop system shown in Figure 3b. The
controlled system is required to have a time constant of = 1.3 sec with a damping ratio of = 0.6.
[20 marks]

3.2 Determine the closed-loop transfer function T(s) and the equivalent controller Gc(s) as shown in
Figure 3b where

Obtain the unit step response y(t) . [20 marks]