CONFIDENTIAL

UTHM
Universiti Tun Hussein Onn Malaysia

UNIVERSITI TUN HUSSEIN ONN MALAYSIA

FINAL E,XAMINATION
SE,ME,STE,R II
sE,ssroN 2015120 16

COT]RSE NAME CONTROL ENGINEERING

COTJRSE CODE BDA 30703

PROGRAMME BDD

EXAMINATION DATE JIJNE 20T6

DIJRATION 3 HOTJRS

INSTRIJCTIONS : 1. PART A (COMPIJLSORY) :

ANSWER ALL QTJESTIONS

2. PART B (OPTIONAL) :
ANSWER ONE (1) QUESTION ONLY

THIS QUESTION PAPER CONSIST OF ELEVEN (11) PAGES

CONFIDENTIAL
COhIFIDENTIAL BDA3'Tos
PART A (C0MPULSoRY): AI\SWER ALL TIIE QIJESTIONS

Ql (a) What is the meaning of calibration of measuring instrument?

(2 marks)

(b) Explain two Q) reasons why the calibration is so important?

(4 marks)

(c) Fundamental units and derived units are two types of units are used in science
and engineering. Give two (2) examples of physical quantlty and symbol of each of
them.

(4 marks)

(d) What is the meaning of the following terms:

i. Repeatability
ii. Linearity
iii. Sensitivity

(6 marks)

(e) Give two (2) examples of application of measurement and instrumentation in

industry.

(4 marks)

CONFIDENTIAL
CONFIDENTIAL BDA30703

Q2 (a) Azizi is a student in form 4. He has learnt about control system in Physics
subject. However, Azizi found difficulties to find out about the system in semi-
automatic washing machine. Please assist Azizi in answering the following
questions;

i. State whether semi-automatic washing machine is an open loop or close

sloop system.
ii. Give the reason for your answer in Q2(a)(i).
iii. Give three (3) examples for the system use in Q2(aXi).
iv. What is the desired output of the washing machine?
v. Explain two (2) advantages of close loop over open loop system.

(8 marks)

(b) Figure Q2 shows the unity feedback system for servo control system with input
R(s)and disturbance input, D(s). Obtain the following transfer function of the
system shown in Figure Q2.

i. Transfer tuncti^-
fon er c(t\/
^t '/n(t\. ,
ii. Transfer tunction * r(%Ul

The input R(s) and disturbance input D(s) may be assumed to be any value. You may

use any method that you have leamt in control system.

(12 marks)

CONFIDENTIAL
CONFIDENTIAL BDA3'7o3

Q3 A mechanical system is shown in Figure Q3, which is subjected to a known

displacement xdt) with respect to the reference,

(a) determine the two independent equations of motion,

(4 marks)

(b) obtain the equations of motion in terms of the Laplace transform, assuming that
the initial conditions are zeto,
(4 marks)

(c) sketch a signal flow graph representing the system ofequations, and
(6 marks)

(d) find the fiansfer function of the system considering xt andx: os tho output and
input ,respectively.
(6 marks)

CONFIDENTIAL
CONFIDENTIAL BDA3'Tos

a4 A control system with unity negative feedback has a forward transfer function

G(')=#
(a) Find the poles and zeros of the open loop system
(2 marks)

(b) Find the point where the asymptotes cross the real anis and calculate the

asymptote angles
(2 marks)

(c) Evaluate the breakaway point (given the roots of the characteristic equation are

sr: 0.435and sz: -1.UOt,

(4 marks)

(d) Determine the crossing points of the loci with the imaginary anis. Also calculate
the gain K at those points.
(4 marks)

(e) Plot a root locus diagram of the system on a linear Saph paper
(4 marks)

(f) Determine the point where the locus crosses the 0.5 damping ratio line
(2 marks)

(g) Determine the value of K whbn damping ratio, f, is 0.5

(2muks)

CONFIDENTIAL
CONFIDENTIAL BDA3'Tos

PART B: AI\SWER OI{E (1) OUT oF TwO QUESTIONS

Q5 (a) Give a brief explanation of Bode Plot.

(5 marks)
(b) Transfer function of an electrical instrument is given by;

10K
G(s) =
s(1 +0,1s)(t+0.02s)

i. Sketch the Bode Diagram for the system, given K:l

ii. Determine the gain and phase margin from the Bode sketched in section

Qs(b)i
(15 marks)

Q6 (a) Show that the PlD-controlled system shown in Figure Q6 (a) is equivalent to
the l-PD-controlled system with feed forward contol shown in Figure Q6 (b).
(5 marks)

(b) Figure Q6 (c) shows block diagram for a liquidJevel process control system.
The system parameters are:-

A:2m2,R/= l5dm2,Hr= 1V/m,K"=0.1 m3/sv, Kt--l

When the under damped natural frequency con is 0.1 rad/s, find:

i. The closed loop transfer function (rL/Hd),

ii. Integral Action Time (Ti), and

iii. Damping ratio (g)

(15 marks)

-EI\D OF QUESTION$

CONFIDENTIAL
lr

CONFIDENTIAL BDA3'?03

FINAL EXAMINATION
SEMESTERISESSION: SEM lInol5norc PROGRAMME:BDD
CO{JRSENAh,IE : CONTROLENGINEERING COLJRSE mDE: BDA30?03

F'igure Q2

Figure Q3

7 CONFIDENTIAL
CONFIDENTIAL BDA3o7o3

FINAL EXAMII\ATIONI
SEMESTERISES SION : SEM IV zors I 2016 PROGRAMME: BDD
COURSENAME : CONTROLENGINEERING COURSE CODE: BDA 30703

Ko(f + T,pl Go{s}

,|-

Figure Q6 (a)

Kpl | + I*sl

KP

6
Kr(l * fpl

Figure Q6 (b)

Pl Controller Tank and valve

Control valve
H"(s)
Ho(s) + E(s) %(s)
1+A&s
H'(s)
Pressure tranducer

Figure Q6 (c)

CONFIDENTIAL
CONFIDENTIAL BDA3o7o3

FINAL EXAMINATION
SEMESTERISESSION: SEM IVzars nOrc PROGRAMME: BDD
COURSENAME :CONTROLENGINEERING COURSE CODE: BDA 30703

Time Response Table 1: Test waveforms used in control systems

afi
c(')- Name Time funcilon Laplace transform
st+Z(atrs+ol
Step
7T "Q) T
t,', 7T
rp-
a-

Y I-- .s
*,r!l - (' ad
Ramp tuQ) 1

e")
-i| t/l-4'
.r ^l
1
s'
o/oOS _ l00e L .l Parabola Ir I
-t'
s F
r-
b
-rn(y,oslloo)
lrnpulse d(/) I
t' +lttt (%ositoo)
Sinusoid
T,
44 sin omQ)
--
(0

{* o 6dr s' + fi)'

Cosine cos a*uQ) s
I .321
T, _ )',
S- + CD-
{on

Root Locus
I Differentiation (quotient rule)
fI pole lengths
= Ifu -f(*)*dv-s(t)then
FmX=
a_ Ifinite
nr*rot*ttgth*
poles-Ifinite
#furite poles- #finite zeros
zeros d fr)
|
-
on [uJ
t_ {aui*
v'
t
u(avi *) s(*)f'
tsft )r
&
/(')s'(')

Qr, +r)"
a #finite poles - #finite zeros Steady-state Error
G(s)H(')=-t -rzW+l)l8tr n(*) = e step(*) = K p- lSG(t)
= Ifi"ite zero angles - f f*ite pole angles #,
u(*) = e,n*p(*) =
*fu, Kv=
l$sc(s)

,(*)=epartu,@;= Ko=15s'c(s)
19s'c(s))

CONFIDENTIAL
CONFIDENTIAL BDA3oro3

FINAL EXAIVTINATION
SEMESIERISESSION: SEM 1Ifzorsnorc PROGRAIVIME: BDD
COT]RSENAI\{E : CONTROLENGINEERING CO{JRSE CODE: BDA 30703

ftfs2:I^rl|=sTffi H1s
l- I"hitiryhc d(f] I
2,- Ilnitt&p l(O t's
t tr-l,
3_
' 'tJ
4_ t* :: : t
:(r-DI (n - l,Lr,'. -)
F
5. d
F
6, fl
s+[
7. fr-t I
G;tr
s,
{n:LL3"')
5h'*a*
9_ fe< {rt:La3,,..} td
{s+ eY
I
l0-

ll- mcf
sird
re 5
Fi:t@I
si&ail @
17,-

13_ dd
frF J
ffiF
14-
je*s*l
u- 1

*ft*-sol (r+eil.r+al
l6-
b*r*
=t-frr+r
*ar-l|
*t'ra
ffi
J

10

CONFIDENTIAL
CONFIDENTIAL BDA3o7o3

FINAL EXAMINATION
SEMESTER/SESSION: SEM rVzors Darc PROGRAMME: BDD
COURSE NA}VIE : CONTROL ENGINEERING COURSE CODE: BDA 30703

hgtr ftc. Tlmrlm

gt
1. Wf$fl -i Jtt) - Jo-'fw f,rcfinitim

2, g.tHffrl - tt{s} Lircrritythrcm

3. Wft$, +"fz(fll ,-- lrt(e) + Fztrl Lirmrilythwnnn
4. ffIc-^ftfl[ .T
fk+c) FrrqrmySifrthm
5. Wftt- rll r-'*rg1r) Tltrr: rlrift tbcorcrn
6, WK*I - IJg\
lr'\o/ Scdirytbccem

7.
W1 - cflrl -jft0-) DtftrmddftnScorcm

t, -] oeF{r} - {/(O-} -ffO -, Diffiiditnt:hmrum

L#l
g t'.-*f.-t{o-}
- s'fts) - *-1 Diftrcnti*lnthmcm
9.
t#1
lo.
I
tldlr,l - t1s) trrlcgfrd,mtrmrpn
U"" J
t
ll. .f(tpl Q lfuir
f '-+O
irFlr) FiEl valut; thnorprml

t2, Inffsf vehpttbcormz

"f{o-F} *{SgsFt"}

11

CONFIDENTIAL