ser functions (a) (b) Solution (a) Problem 4.1 Find the time response, initi: AY s(s +10) (s+2)(s+4)(s +6) 125+) Fs) = (9) = aaa) eee Fis) = — GH Oa (8+ 2)(5+4)(s+ 6) S(t) =e + 664 Initial value = Him gy) = Final value = lim Fo) = —2G+y 99+ 2)?(943)Domain Analysis Time 10(s +1) 5 2 = Transfer function = Xs) = S (542) a 10(s+1), ; “ a Sst2) 7) Ans Problem 4.3 A servo system for the position cont js e py viscous friction damping which ist three-qua eee stabilised damping. The undamped natural frequency of the sy are pin Ree critical expression for the output of the system, if the input control is sudd ive an anew position, being initially at rest. Hence, find the maximum 1 ces Solution The output response is given by a PB en at y(t) = G) 1— sin(@,t + @) (22 Now &= 0.75 (given) 1-@ — 0757 = ene NiOrsa aye $ 0.75 But 41.419 = 09 180. Q,= o,\1-2 =2ax 12 =75.4 rad/s @, = 12 Hz = 12 cycles/sec. = 75.41 07% =50 JProblems my’ and the sti 5 ate the viscous frictional torque required to produce critical, critical damping, calculate the amplitude of swing of flywh between the flywheel and the control lever. Solution etal K(O,- &) = Us" + Fs) for critical damping F=2VJK =2,/150 x 2400 = 1200N We know that -. Torque equation is (s° + 2€0,5 + @)@ = OF, If @, = @sin wr then the steady state output ii Amplitude = 2x2 4x4 | The angle of Jag is given bySolution The transfer function of the mechani icalProblem 4.6 A servo mechanism is represented by (r— is the actuating signal. Ca re B= ! As amped frequency of oscilla 0 =150E, ratio, undamped and di Solution a0 19% =150E at? dt a ea aene=o dt” dt The equation in Laplace domain is s° As) + 10 sA(s) = 150 (R(s) — A(s)) As) 150 Ros) s* + 105+ 150 2) Comparing this with On ‘ompari ST s+ 2£0,5+ oF ©; = 150 ». @, = 12.25 rad/sec 10 26a, = 10 . €= aaReH = 041-2 = 19,95 Problem 4.7 Measurements conduct Tesponse to be c(t) = 1 + 0,2 ea Obtain the expression for closed: undamped natural frequency of 0 Solution Rs) ~is pomain Analys' Tne oniG : as ratio of 0.5. For this value of K, at aime (0 peak overshoot for a unit s an Solution s) s* 4108 standard s Problem 4.9 The op _ Bien by Gis) = Kis BY what factor the amp ‘IE response of theTransfer functionPeak time Peak overshootEw, = 0.82 x 16.33 = 13.4 and 1 1 = = 1.75 A ieee Oso 0,(0) = 1-1.75e?™ sin(9.35¢ + 0.61) a (b) Input = 1 r.p.m. = 30 tad/sec (1) = re ess a K 3K. Ky K, = lim sG(s) = lim ——"7_ = <2 ales 5-0 Js? BS) ey RXB_ 2x4x103 (= ee : K, — 30x4x10° = 0.011 rad (c) T=1200Nm or K;,=4x 10*Nm/ra 1200 4x 10% Error = = 0.03 radians or 1.72 d Problem 4.11 In the Position control system shown. (a) Sensitivity of error detector K,= 1 volt/deg (b) Transfer function of motor 9,n(5) aa =—_™~~; where K,, = 10 ra V(s) 5(sT +1) (C) Gear Ratio a ve(t) = Ae(t) + Ako 2) Reference VoltageTime Domain Analysis If the input shaft is driven at or speed of zrrad/se the value of the amplifier gain such that the Steady-s\ nd output positions is less than 3 degrees. If ferine ratio and setting time of the system, (d) The amplifier is modified, the system d tional derivative term such that the outp) de(t) ¢ and is constant, deter tate deviation between amplifier gain is 35, determ lynamics by introducing ut is given by v(t) = Ae(t) + AKp Determine the value of Kp so that the damping ratio is improy this improve the steady state error as in part (c). Also, caleulate | time. Assume A = 35. (e) The block diagram of the schematic diagram is sh Fig. 4.40 (a) K AK, X00 1X5 (14 TyS) (a) G(s) = | volt/degree = But Where and (b)200.6 s? + 10s or G(s) = Transfer function with unity fedback COma 2006 1+G(s)H(s)_—s* +10s+ 2006 Comparing with standard second order transfer function 2£w, = 10 and @, = 42006 eo eee 2) naLOS Ronnie) 2x V2006 2x448 This value is very low, 4 éo, 0112x448 1, = settling time = = 0.797 de(t) d y(t) = A Ni —— (d) v(t) = Ae(t) + AKp Ai or Vel) = E(s){A( + Kps} Therefore, amplifier gain a =A(1 + Kps) = 35(1+ Kps) G(s) = 180%35(0+ Ky) 10x00 HX s(1+0.1s) 2006 (1+ Kps) 5° +105 COE 2006 (1+ Kips) I+G(S)H(s) 2 +1054 2006 Kps +2006 Comparing with the Standard second order trans », = 12006 = 44.8 rad/sec 25, = 10 + 2006K,, Gi iven é=04 2x04 = Ky= x448~19 3006 ae a 4 ee $0, ~ 04x agggfe Domain Analysis gueady State error 180% A (1+ Kps)x10X0.01 _ 180 A(1+ Kps) mx s(1+ 0.15) HXs(1+O.1s) = lim sG(s) = —— = G(s K, im s 590 G(s) = R= UXT 3a ‘ e.() = —— < — radians i 18A 180 107 A> na or 10.5 (same as before) Problem 4.12 AD. C. Position control system comprises of a field gnomotor, potentiometer, an amplifier and a tachnogenerator « motor shaft, A fraction K of the tachnogenerator output is fedback subilizing effect. The following values of the system are given Ae eee -3 Moment of inertia of motor In =3 x 10~ Kem Moment of inertia of Load Jp=5 Kgm? a 1 Motor to load gear ratio, a = ie N Me Motor to potentiometer gear ratio, >= =1 9 Motor torque constant, Tachogenerator constant, K, Sensitivity of error detector P Amplifier gain Motor field time constant and Motor and (a) Draw the block diagram. (b) Find the transfer function. (©) Obtain the amplifier gain requi voltage feedback to undamped Of system as 0.8. 5 Solution (a) 4 The block diagram showing connecFig. 4.41 Simplifying the inner loop AK; SJ. me AK; ~ THOQKAK, ~ 5Joq + O2KAKg Seq The block diagram reduces to G(s) =the forward path transfer function = H(s) =1 NK, AKy G(s) 2 S(sJ,, + 0.2KAKy) © 1+ G(s) H(s) ~ 1x 50[S x10? x 5? 402 0.04.4 5x103 x 2 494 = 8A : oR * +80KAs + 84Domain Analysis Time Bi Comparing with the standard second-order transfer function 8A =a; 2) LG Ae see = 2 amps/volt id 80AK = 26, 2éo,, _ 2x08x4 = 304° — "BOscamimiea a Problem 4.13 A line diagram showing the various components of a servomecha- nism have been connected, as shown in Fig. 4.42. The following particulars refer tothe system: i Sensitivity of Synchro, K, = 1 volt/rad Amplifier gain, A = 30 volt/volt Motor torque constant, K; =1x 10° Nm/volt Load inertia, J, =1.5 x 107 kgm? Viscous friction, B, = 1x 10° Nm/rad/sec Tachometer constant, K, = 0.2 volt/rad/sec Op Synchros AC Fig. 4.42 (4) Estimate the value of damping ratio, the steady-state error corresponding (b) What will be the value of dampiny system, (°) The amplifier is modified asv= Ae(t) +Afe(tdt _ and the tachometer is removed. Obtz behaviour and compare it with part (a). Solution : The block diagram of the system 1s shown in Fig. 4.43 Fig. 4.43 (a) When tachometer disconnected (K, = 0) > SiGe +See 15x10 (Note J = J, and B = B, as gear ratio is one) Soyo 20! ae “J 9 +067 5+20 Comparing with the standard second-order transfer function @, = 20 and 2E0, = 0.67 K,= limsG(s) = Ke4&r a R= 1 rad/sectine Doman Analysis ay (h) When tachometer is connected K.AK, G(s) = —=-yeun aie s(sJ + B+ KK, A) 8c ( ) K AK; 2C (5) = ————__+_1__ Or s(sJ + B+ KK, A) + K, AK, Comparing with the standard second order transfer function >_ K,AKr _ 1301x105 ap = = i J 15x 10% @, = 4.47 rad/ sec B+AK,Ky _ 1x10%+30x02x1x10% 2g, = Pa J 15x10° 2&a, = 4.67 4.67 4.67 a ome 2x@, 2x447 sii c) When amplifier modified and tachometer removed v.(0) = Ae(t) + Af e(t) dt ar V,(s) = AE(s) + E69) ~ kona(t) aaa E Ss oy oo = RRCAGED d+ sB K,KrA w (CO s°(sJ + B) K. = lim sG(s) = li ¥ 590 s ae va The error has beco modifying the amplifiEi Problems and — error rate control. Determine the value of error rate constant K, so ing ratio is 0.6. Determine the values of settling time, maximum steady state error, if the input is unit ramp.What will be the value error without error rate control Solution (a) With Error-rate Control 10(1+sK,) OS) = ae S(s+2) 7 10+ 10sK, — (Ss) = St R 5s +5(2+10K,)+10 Comparing with the standard second-order transfer function o, = Vi0 = 3.16 rad/sec 2a, =2 + 10K, K,= 25-2 _ 2x06x316-2 0a : 0 £10) .— 4 4 => =——__ = 2 1 $@, 06x 316 ee ~06x M,= e\°* _ 9.409, eee 1 1 rime == =-= K, lim sG(s) 5 (b) Without Error rate control Gs) = 10 S(s+2) Oo R 5 +2s+10Ea =0. serail 1. 's= Fa. © OS2SI CN meeme _ Ans. -0.32% 2 M,=e Vee = 35.1% é,, = 0.2 radians Ans. Problem 4.15 The system shown in Fig. 4.45 employs derivative of feedback in addition to unity feedback. (a) Find the value of constant Ko so that the damping ratio of the system is 0.7. With this calculated value of Ko and unit ramp input, find the val steady-state error. 7 (b) If K)=0, calculate the value of damping ratio and undamped frequency of oscillations. What will be the steady-state error resulting from unit ramp — input. M (c) The value of steady-state error is required to be 0.2 rad with deri feedback and the damping ratio maintained at 0.7. How can this be lue of Solution 10 ® (3) = =———____ oR 5s +5(2+ Ky) +10 @, = V10 = 3.16 rad/sec Dear LQ= ess G(s) = e= and10 (b) If K, = 0, then, Gls) = > oa 10 Tr se +25+10 @, = Vi0 = 3.16 rad/sec Also 26, =2 1 = — =0.316 $ 3.16 i 10 = k= lim sG(s) ine =5 R 1 6,= x ae = 0.2 rad (c) e,, = 0.2 rad §=0.7 K.= RR = ae =>) tire erat 0) Also K, = limsG(s) = tim . = s) = im——_—_ = —— Varo 5405(K, +2) Ky 2 Where A=Amplifier gain A K+2 =SorA=5K,+10 Also 2a, =2+ Ky Where €=0.7 and Q,= RAN 2x0.7x JA =24+K, or 196A = Kj +4K, +4 Putting the value of A from equation (1) in equation (2), we ge 196(5Kq +10) = Ke -4Ky+4 or Ky - 4.8K, 156 =0 a Ky = 7.02 and — 2.29 Taking positive value of Ky = 7.02 A=5K) +10=5%7.02 + 10=45.1_ 5(s+10)we main Analysis ; Rat tants and the stead: ( Find the static error constant ¥ state error Y ich subjected to an input given by the polynomial eae r(t) = Po + Pitt ae (b) Find the dynamic error using the dynamic error Co-efficients x 3 100 = = 1 = K, = time) +10 5G@AS10) aia Ans Ke lim sG(s) = pia SiO 10 Ans ae) = in LOO K,= lim s' G(9) seared SS rt) ess Ans () G(s) = Gall 10) = s(1+01s) E(s) 1 1 a s+O1s? Rs) 1+G(s) 4, 10 10s 0S? (s+0.1s) E(s) s+ 01s? 1 09 = —— ae Rs) 10+5+01s? 10 100 The error constants are G=0 C= onl 10 09 Cr= 7pp = 0.009 1 , = eon 1000 Pa 10) = Po + Pa ie H(t) = Py + Pot rt) = P, 7) =0 oa E(s) = 0.15R(s) + 0.009 s?R( %(3) : In the time domain, the steady-state error is given by lim e(t) = (0.1 A(t) + 0.009 Fr) — 0.001 *()) es =0.1(P, + Pst) + 0.009P,, The steady state error is then lim e(f) = Jim [0.1[P; + P 4] + 0.009P,} Ioe = lim [0.1P; + 0.009 P, + P-+ Pt] toe Unless P, = 0, the steady state error will be infinity. SS AE Problem 4.17 Find the dynamic error co-efficients of the fi whose forward transfer function is G(s) = 10/s (s + 1) - Find the st to the polynomial input r(1) = ay + a, f+ a5 r Solution Ets) Ris) 1+G(s) Tt can be expanded as a power series in s, by Taylor's series € to the following expression for unity feedback system = Cyt Gis + Cs" + Cis chee 1+ G(s) Where Cy, C;, C, etc. are defined as error coefficients. K, If G(s) = x s(1+sT) A the Bens eee 7 eh Ke a Ke By comparing (1) and (2), the error co-efficient are 1 K,T-1 = 0; C= ie =a Gen 0 Re G(s) = Sis) G=0 1 1 (Cy ae 1 K, 10 0.1 K\T- 4 Gee oticily 10a=-0.019 K; 1000 E(s) = 0.1sR(s) + 0.09 s°R(s) — 0.0198°R(s) ' time domain, the steady state error is given by ID lim e(t) = 0.1 A(t) + 0.09 F(X) — 0.019 F(2) Ht) = ap + at + aye 7(t) =a, + 2ayt 7(t) = 2a, F(t) =0 then lim e(f) = lim [0.1(a, + 2a,r) + 0.09 x 245] = lim [0.la, + 0.184 + 0.2a5t) Unless a, = 0, the steady state error will become infinity. Sl Problem 4.18 The forward transfer function of a unity: onder system has a pole at —2. The nature of, gain K is nlio is 0.4. The above system is subjected to input sale error. a Solution G(s) = as) R(s) 2m, = 2 0, = Also K= a, = (25) oy Gs)= 625 S(s+2) en J ag 1+K, K, = lim G(s) 530 8 Kas e,eee / id order position control system h Problem 4.19 A secon function G(s) = 5:73A/s (1+ 0.1 s) , where A is the amplifi of A so that steady state error shall not exceed one degree rotates at 10 r.p.m. Solution x Given R=10rp.m= 5 rad/sec 5.73A = =5.73A Also K,= lim sG(s) lim ron =5 5.73A = 60 60. A=— =1047 S 5.73 LN Problem 4.20 Give an example of Type 0, Type 1 and Type Solution Type = Kil+sT) (1+ ST, (+ sT,)(1+ sf) Type 1 = —Ko(l+sT) S(+ ST, )(1+ ST) Type 2= —_Ka(l+ s7) S(1+ ST) + 57) Problem 4.21 Find th o © Steady stat loop transfer functioy 'Y State response of a control nis given by Gs) = Be) ms —K(s+2) Consid g S(5° +4548) Sider step ; F Constant, Step input having an error angle of 6. Solution 6.(s) =fre Domain Ans” a Sion Sy K (s+2) 6, =. Se G9) s(s° +45+8) is K (s+2) 6, s8,(s) = s(s +454 8) Applying the final value theorem, i = tim “6,()= tim KG+28 _ KO, nO Oe ae 590(s7 44548) 4 Ans. ig, output velocity is proportional to the error angle. Problem 4.22 Find the steady state response to a ste whose open-loop transfer function is 6, K, (1+ sT, G(s) = 22 (9) = Sees a. s°(1+s%) where K, is the acceleration constant ‘P input to a control system Solution O{s) = —* s K, (1+ sT, @(s) = Kets) Re(@lencrts)) Pays) = Koll st) (1+ sT,) K,(1+sT) UST 1? f fim @4(t)= lim < = lim ee 2 9, (¢) = Hi ©, Output acceleration is proportional to the erro Styne em 4.23 A Ty pe | control is used to t “pm. What is the required velocity €6 Sor is 2 degrees, ; ” Solution 60 rpm = © 60 * 360 Foray deg lag,TT a Problem 4.24 The transfer function of a control Gis) = (1 +57), Show that if the input is @ step displac complete 98.26% of the step in 67 seconds for critical day p Solution 1 OS Team Comparing with the standard form 1 =—andé=1 @, T S The standard form of solution of a second-order equation aunit step input is c(N=1-©"" (l+@,9 E 1 or e=1- eT (1+ =) Putting =¢= 67 c(t) = 1 - (1 + 6) = 98.26% Problem 4.25 A servo m for position control has the clos function 6/(s° + 2s + 6). Find the percentage overshoot; if the | moved to a new position. Solution Gs)= —° Ss +25+6 Comparing with the standard form @, = V6 and 2a, =2 &= 0.408 =x 0.408 yi-a.40 24.4% Problem 4.26 A sery Stabilized by viscous. Critical damping. The © system for the positional control 0 friction damping which three-qui mae The undamped frequency of oscillation 0 ae ee expression for the output of the s stem if the inp ved to an iti i iti H etal EW position, the system being initially at rest. Hin Analysis fine Doman soto €=075 @, = 12x 22= 75.36 rad/sec. fre solution is given by c(t) = 1 in(@, V1 — E71 + cos”! | cuistituting the values of @, and, we get c(t) = [1 — 1.5e°°* sin (S0r + 41.4)] Gun —0.75 4 - ae y1-075- Problem 4.27 Figure 4.46 shows two generators cascaded together. The appro- mate constants are L, = 100H, L, = 50H, R, = 200 ohm, R, = 250 ohm, K, = 250 V/A, Ky = 100 V/A First overshoot = Fig. 4.46 Deduce a transfer function for the output/input Smal when a 10 V step is applied to the first generat taken as zero Solution The transfer function is Y, KK. f 2 (s)= ae Su i (sL, + R, (si ‘sitting the values we pet j V oats 5 V. > a i (1+ O5s)\(1+ v(t) =10 a50 2 1 eee s(1+05s)(1+2 5) 50 a B G VAS) =e 4 s(s + 2)(s + 05) Ss st2. s+05 i Vo(s) = or 50 1 A=50 A=———_——_|,. a(s+ 2)(s+05)°~° 2 B= 16.67 sa+05)|_, psa C=- 66.67 v(t) = 50 [1 +0.33 6 — 1.33 & 7] ee ETRE RTT IA Problem 4.28 A servo system for the position control of a rotabl viscous-friction damping has moment of intertia of the moving and the motor torque is 1000 Nm per rad of misalignment. The 30 N-m/rad/sec. Determine by how much the friction torque must order that the damping should be critical. Solution The transfer function relating output and input is onan 1000 x 2500 A 9, 045° +30s+1000 s? +75s+ 2500 — Comparing with standard second-order function = /2500 =50, and & = a = 015° 2x50 For critical damping the friction torque required is 30 = ns 40 Nm /rad/sec Increase in friction = 40 - 30. Therefore, torque required is = 10) Nm/rad/sec Problem 4.29 Dete: system shown in a ae the values of MB andFig. 4.47 a Solution The transfer function of the system is X(s) = 1 Ys) ~ Ms? + Bs+ K 89 Y(t) =8.9.. Y(s) = 7 09 s(Ms? + Bs+ K) X(s) = Also x (c2) = 0.03 (from the response curve) 89 89 x (9) = ‘him X(s) = lim = Pond 9) 530 Ms? +Bst+K K or K = 296.67 N/m (8.9/0.03) Also 1, = 2 sec = = 4 oe O,= S = 1.571 rad/sec Also M, = 2 (for unit input) 03 & =0.597 Now = 0, y1-& or 1571 0, = yl-0597? Cy mparing the transfer function with stK 296.67 pes = 77.38 kg or ef @ (1.958) B 2 == and 26, Tj or B =2&w, orM=2x 0.597 x 1.958 x 77.38 = 180.91 AEE TOTS Problem 4.30 A servo mechanism is represented by the eq aay so - 144E dt dt ; Where E = C - 0.5y is the actuating signal. Find the value o1 damped and undamped frequency of oscillations. Draw the blo system described by the above equation. I Solution d’y +492) = 144E di? dt a d‘y dy or +48—= 144(C-05 e Fi ( y) 8° ¥(s) + 4.8s¥(s) = 144C(s) - 72 Ys) a Y(s) ; 144 C(s) 5? +485+72 The block diagram of the system is shown in Fig. 4.48 ——— ic ee Comparin; tte) a Rs) with standard second-order trans 1 2 44 be o peat i - 8 H48s472 334 2a shoe , = 72 =8.48 rad/sec ES eee 20, — 2x848 =0.Domain Analysis Son eeu = = 8481 O28IEi sd alee ‘Ans —_— 431 For a unity feed-back system whose open-loop transfer function jem e 50 —_——. . find the position, i 7 500) = (1+ 015) (+25) Position, velocity and acceleration error epostants | OSTEO RAPT TEE Solution 50. G9 = Teo1sdeens) fa) Position Error Constant 50 =ali G(s) = lim ————__ ‘ mye s30(1+015) +25) re (b) Velocity Error Constant 50s = lim eC Ans = im sO) = COO esos aa : (c) Acceleration Error Constant 2 K,= lim s*G(s) = lin ee dim T+ 01) 028) teumrcmenee ges “SN Problem 4.32 A certain feedback system is described by the following i function G(s) = oe H(s) = Ks; s-+45+16 The damping factor of the system is 0.8. Determine pee SYstem, Solution oo R(s) 5? *+ (4+ 16K) +16 Pating with the standard second-o1 a, 26a, 2x0.8x4 =Ea Problems ar K =0.15 Therefore, the transfer function is GO) 6 Ro) + 64S + 16 = 1x08 TE Peak overshoot, M, = ¢* = 0.015 or 1.5% Sa Snecma i Problem 4.33 Determine the error co-efficients and static error for yp unity feedback system aa OO 4 GHIO) H(s) =(s +2) Solution The transfer function of the given system is Cs) _ G(s) Rs) 1+ G(s) H(s) Error co-efficients 1 (= lim G(s) = lim —— aaa () Ea GCS) any (s+ D(s-+ 10) 1 im sG) = lim = i yi sc) 0 (s+ 1Xs+10) 8 > i 2 s i 3 ee ee = dim — @) K,= lim s°G(s) en (s+ D(s+ 10) Static Error 4 The given system is type | system as there is one pole For a type | system, Steady-state error for a unity feedb: (1) Unit step Input =0 1 1 —=—=10 KeSeaOl (3) Unit Parabolic Input = oo The error constants for (2) Unit Ramp Input = 4 non-unity feedback sy: G(s) H(s) = —_+2) S(s+1)(s+ 10)lysis 32 pomain Anal E — pe | system a poral i s+2 C= lim G(s)H —— i Ky> (OH) =n eevee Ans = lim sG@)HG)= in aa a 90 (S41\sH10) ) 502 | Ans K,= tims" >G(s)H(s) = li S(s+2) a oS Gener ~° i. sieady state error for (1) Unit step. Input =0 ins I r 2) Unit Ramp Input = Oa =| a 3) Unit Parabolic Input =o a Problem 4.34 A feedback control system is described as 50 1 (Ss) = —— re i G(s) | 300m | | | Fig. 4.53 Speed = 250 m/sec ity = tan! 22 eg/sec = 0,694 rad Angular velocity = tan Cot 39.80 deg/sec = 0. a __ velocity Also error = K, — Velocity _ 39.80 = 3980 error 0.01 0.0L x c: or error = 0.01° or = radian 9 0,694 x 180. = 3,978 0.01 x 4 enor er ec Problem 4.50 A turntable whose moment of inet Junction with a proportional controller having gain A torque of 55 Nm/rad of misalingnment is devel factor produced by viscous friction is 0.25. (a) Draw the signal flow graph of the system u (b) Determine transfer function. (c) If the constant velocity input is 0.05 tracking error.tea Se a Domain Analysis i e ws If the pa is ramp input suggest 4 modification toeli ve : in part C solution signal flow graph is shown in Fig. 4.54 (a) 1 K Js+fs Oy 1 8 Fig. 4.54 (5) _ K A Kid ) Ol) Is +fstK s+ fonK ees a, = KJ = 55/0 = 5.5 and 2&0, = fll fi] = 2x 0.25 x ¥55 = 1.17 8,(s) _ 35 Phere. 5) 5 aS 005 (0) 6(s) = —> (given) sR(s) e,,= lim] —————_ s0! 1+ G(s)(Hs) s(8+ 117) e+ LTs +55 5x 1.17, = = 0.0106 rad (i) Error can be eliminated to a ramp input, if an integral makes the system type 2 (two) by introducing one m ‘orward path, The transfer function of integral control i function controller becomes K, Ks +k; s y 2 or a ) Moblem 451 A second order servo system has unity f Mansfer function 5 . =K+ S00. 66) s(s + 15)(a) Draw a block diagram for the closed loop system, ; (b) What is the characteristic equation of the closed-lo on (c) What are the numerical values of natural frequeney ratio (€). (d) Sketch the transient response for a unit step input, (e) Obtain the values of percentage overshoot and the tim start of the transient to maximum overshoot. (f) What is settling time of the system. (g) If the system is subjected to ramp input of 0.5 rad/s; wha state error. E Solution (a) Considering R(s) as input and C(s) as output, shown in Fig. 4.55 Fig. 4.55 (b) The transfer function is C@) Gt) R(s) 1+ G(s) H(s)" H(s)=1 Therefore, 500 s(s + 15) 500 , © 5? +155 +500 7 (d) The transient response is shown in Fig. 4.15. (e) % M, = 100x es! xpamain Analysis ae ting the value of ¢ found above, we get goss om, aM, = 100% € © =) 151% 4 4 (= —— = — 0.53 sec. ipsetlingtime = Eom, 75 7 1 1 E(s) | = ————— mT ) A 1+6@OFO 9 aT s(s +15) E(s) s(s +15) eee Ris) s+ 15s+500 OS R(s) = — (given) 5 4) = limsE(s) sieady state error, € jim _ s* R(s) x s(s +15) = im —————— <0 57 15s +500 tim 23 *(s+15) 05 7S ois reel = lim 23] S84 >) | = > 20) 4 530.5’ | s° +15s+500 500 sec. el Problem 4.52 A unity feedback system is characterized by an open: function G(s) = K/s (s + 10). Determine the gain K so that the syster danping ratio of 0.5. For this value of K, determine settling time for fund, peak overshoot and time to peak overshoot for a unit step-in] Solution The characteristic equation is given by 1 + GH =0; ie 1+ aa s(s + 10) '+10s+K =0. Comparing with characteristic equati feedback closed loop system, i.e. s* + 26,5 + 0,= VK; 20, =10 or 2X05% Therefore, gain Res @, = 100 Settling time = 1,=ji % peak overshoot = M, = 100 x ev Time to peak overshoot, /, = Proble1 i has forward m 4.53 A unity feedback control system has forw: tr by G(s) = 8/s(s + 6). Find the output c(t) when the system is 2 units. Solution , a The overall transfer function for closed-loop system with unity | by om CO) eG 5(s +6) = R(s) 1+GH es 8 nT s(s +6) 2 ICO o, ‘ Compa a Rs) s+ 2éa,5+ @ we get @, = V8 =2.83 rad/sec z 6 6 and 2&w,=6 i.e &= apes am is ; Since ¢> 1, this is a case of overdamped system. C(s) 8 8 Now ip 2 Ris)? +6848 © (s+2)(s +4) Also R(s) = 2 (given), s Therefore, C(s) = 8x2 = —_ ae MS+2)(5+4) — s(s+2)(s+4) or Os) 16x] 49 Ce S s+2 st+4 A=—_ ze (s+2)(s+4)| 8 Bn aa s(s+4)] 4 c= — zi Be) 8c(t) = 21-40% + 26" of Problem 4.54 Aunity feedback servo-driven instrument has fer function G(s) = 10/s(s + 2). Find (a) the ime domain response for a unit step input, - (b) the natural frequency of oscillation (@,) and damping rato(2) (c) maximum overshoot and the peak time ; (d) steady-state error to an input (1+ 41) (e) Inthe above system, if two poles are introduced in the o} find the absolute stability of the closed-loop system. Solution : The transfer function of the given system is Cs) _ R(s) Here H(s) = | and G(s) = ee Therefore, Cs) NGS) Ris) 1+ G(s) Hs)” The characteristic equation is s?+25+10 Comparing with characteristic equation of sect we get @, = V10 = 3.16 rad/sec ze 2éa, =2 ts orNow the output response 1s given by oS ay=5 _-£ sino + B) Wi-8? g the values in the expression, we get O32x 3M € sin (31 + 71.347) a see ch) =) —1.05e" sin(3r + 71.347) Substitutin, or h fi (byThe natural frequency (o,) and damping ratio () have ber (a) above as 0, = 3.16 rad/sec. hoot (c) Peak overs! i a x ee %M,=100xe * =100xe Ve a x a Peaktime = |, = ——=——= = — SF ” o,j1-2 — 316y1-0327 (d) Steady-state error The input is = | + 41. In Laplace transform for. 4 s+4 Ris | 1 Now A= rr 1+G)H) |, 10g | s(s +2) _ 5+ 45+ 2) #(s* +25 +10) eu = lim sE(s) = 2245+ 45+ DER the s(s°+2s+10) I Now Gs) = 10 5(5+2) It is given that poles are added at + j¥3. This means denominator term equal to (s* + 3). Therefore 10 (5+ 2s? +3) The characteristic equation is 1 + GH =0; 10 Cae = s4+2Ks2 45) *! =0 a OAs) = eee 1+eo” Analysis (e+ 0 +3)+10 #0 e ay 4387 + 68410 = 0 sit ehave 10 find the absolute stability, This wevdit Nowe m This is covered in detail in Chapter 8, Refer: 0 ared in the first column ppeared in the of s* row. Therefore, put s = I/z. putting § = /- in the characteristic equation, we get, 102° +62 +32 4+22+1 =0 q zero has 4 Developing the Routh’s array , we get, Sign change Sign change 1 E 0 rat 0/0] There are two sign changes in the first column of the R there are two roots lying on the right hand side of s-plane. e system unstable i a Problem 4.55 For a negative feedback control system: fer function G(s) = K/s(s + 6) and H(s) = 1. (b) For the value of gain K, determine the: r(t) = 2u(1), where u(1) is unit step input Solution (a) The transfer function CO G(s) R(s) 1+ G(s)H(s) Comparing withcS eames Rs) 5° +2€0,5+ 0, @? = Kor a, = VK 2a, = 6 & = 0.832 (given); therefore, But 002 x 0.832 x ¥K =6 6 2) oc = (aoa or aa (b) Now K = 13 and R(s) = 2 Let us find the values of & @,, @, and £. The transfer function with K = 13 is Go) 35 Ris) 5? +65 +13 Therefore, 0, = VIB = 3.6 rad/sec. 6 6 a Dio wm sone ee @,= 0,\1- © =3.6)1-0833" =2 radhs Te f_ 2 B=tan"! 156, eine 10833 ¢ 0833 Therefore, 0833 3.6r c(t) = | - ——— (sin (21 + 33.6°)) yl — 083337 a or c(t) = 1 ~ 1.81e*sin(21 + 33.6°) For input = 2 u(t) e(t) = 2[1- 1.81e™ sin (21 + 33.6°) or c(t) = 2 - 3.62e™ sin (2r + 33.6°)main Analysis ime DO! lem 4.56 Obtain the transfer function for the System shown in Fig. 4. Pro! jate the value of to make the damping ratio of the system equal to 0, Calcul Solution The block diagram has a transfer function Ys) 10 X(s) 5? +. 5(2 +58) +10 Comparing with the standard second-order transfer function. Cs) _ o;, Ris) 5? + 2E@,5 + o we get 2, =2+ 5Band w, = VI0; but, $= 0.5 (given); Therefore, 2x 0.5 x VIO =2+58 vi0 ~2 or ——— = 5 SE SE Problem 4.57 first-order control system Miput is applied, the system response reach ‘nts. How much time will be taken for Sale Value.Probie! 270 | : ees oes A=sC)no =5 xs+a),_, 4 B=(sta) C()l,--a x -4 3 re) S(S-hia) |e [| a Substituting the values of A and B, we get. Kla__Kla OS) See sta Taking inverse Laplace transform, we get Ke) Qe ee Sean aoa a Steady state value Io a C,, = lim c(t) = tin) Kae] as ieselle At t=10secs; c(t) =0.5 x C,, (given) Substituting the values in the expression of e(f), we get K 0.5C,,= —d-e"™) a K or osx X = XG.) becuse aoa a a 4 95 or a= 0,069 Now, we have to find time ¢ when c(t) = 0.069C,, Substituting the value c(1) = 0.99C,, in the expression of cl), o.99c,,= Ka _ ay a but [> Cr 7 anda = 0.069 (found earlier) —sperelore> K_ K q_ ¢-00001 0.00 isis 0.99 Se en 0691 P 00" = 1 0.99 r 9%" = 0.01. soa of : 1 = 66.74 sec. ot Ans Problem 4.58 A circuit given in Fig. 4.57 has e The supply voltage V.. = 12 V and input is applie au'= 30sec and plot the output for all time. = -2 volts, R=2MQ, C= SUP. dat t= 0. Determine the output Fig. 4.57 Solution 1 I = -— led “0= pele 2x SUE a Alf = 10 seconds; e9= 0.2 x 10 = 2 Volts Alf = 15 seconds; ¢y = 0.2 x 15 = 3Volts Alf = 20 seconds; ¢y = 0.2 x 20 = 4 Volts Alf =25 seconds; 9 = 0.2 x 20 = 5 Volts AL ¢ =30 seconds; e) = 0.2 x 30 = 6 Volts M1 =45 seconds; eg = 0.2 x 45 =9 Volts Since V,. is given as 12 volts, the saturation yo Will rem ; ‘ain constant. The waveform is shown inVec= 12 volts Fig. 4.58 eee RE Problem 4.59 A control system shown in Fig. 4.59 has the fo istics: Fig. 4.59 ty of the system’s transfer fun ind G respectively. Determine the sensitivi input transducer K, H Solution (a) With respect to K Sp=1is main Analys! rime DO! ) with respect to H ( 100 x 10 7 —GH _ SSG °1S GH |, 0x0, S(8+ 1) _- 00 eo se s* +54 1000 (0) With respect to G oT 1 as I oe Bee Fi GH * + 1+ x10. 8? +5+1000 s(s +1) pao IETS TN Problem 4.60 In a position control system the forward path transfer fi {00/s(1 +s) and feedback path transfer function is 10, Determine the s Twith respect to the feed forward feedback elements respectively in of @= | rad/sec. Solution The following data have been given Se LOERA @= | radisec. (1+ 5) @) sf ! l set) = =) = Se oT GH 1,100 mi s+ s+ 1000 S(s+1) Substituting s=ja, Re \S.= oun (ja) + ja +1000 Putting = | rad/sec, We get, So & _/G= Dae 7+ j+1000 — Xatonatising : Bes’. =! | j/=999mam i+999 “999 = = ~1000j +998 Se = 998002 Iszi =Ea Problems ant LOOT 7 —GH s(s +1) (b) Se =- 1+ GH 1+ 100 an s(s +1) Putting @=\rad/sec. and s=ja, 7, . ~1000 we get Silo = 999+ j Rationalising, we get 1, —1000(999 — j) 999000 — 1000 \St = ————-— = - ——— (999)> — 998002 ESRC LSE Problem 4.61 A flywheel is driven by an electric motor. It is control cally by a movement of handwheel and follows its movement. ment of inertia of the flywheel is 150 kg m?. The torque develop 2400 Nm/rad of misaligment between flywheel and handwheel. ' of the system is 600 Nm rad" sec. If the handwheel is suddenly 3 rad from rest, determine subsequent angular position of the fl Solution Torque developed = 2400(6(s) — @(s)) This torque will be equal to = 150 s? @(s) + 600 s A(s) Equating 15 s°A,(s) + 600 s8,(s) = 2400(8,(s) — @ (s)) 8,09) _ 16 9s) 52445416 Os) = % 3s DG) Oe 3s(s° +45 +16) s(s" Gs) = 195 __105s+4.2s - = 1:05) SS (s2)5 412) % G0) = 1.05 {1 -e* cos 3.57 + 0,6 sin 5)ome ne Show that the steady-state error j plem 4.62 Sho ror in the respon: : ie to zero, if the closed-loop transfer function if cise ramp input can Cs) TDi and R(s) ss" +a, Font Gy Sta, Solution LL! Cs) a, Sta, R(s) "44,9" Ue E(s) R(s) —C(s) i s” +a,s""! a R(s) R(s) For the unit input r(h=t a,\S+a, Ton mt Stas" +....44,(s+a) s" +4)5"" "+. eee E(s) = 9 s"+4,5"" +1. False Therefore, a nl e. = Lims E(s) = Li Seng a 530 50 s” +a,5"! + EEE OT a Problem 4.63 Consider a unity feedback control syst transfer function Cs) _ _K,+b Rs)? +as+b R(s) For H(s) = | s FP 4as+b Hence (524 as + b) G(s) = (Ks + b) (1 K,+b F s(sta—k) steady state error in the unit ra or G(s)= ene all a.may be eliminated only if two integrators precede the point where enters. Solution Y(s) _— Gs) Dy -9 1+ G(9)G(s) For the ramp disturbance df = at we have D(s) = Lim Li os Yo) = (550 S¥(9) = NT GOOG ‘ sG(s) a = Lin—— xX>z= 0 14+ G(s)G,(s) 5? If G,(s) has one integrator; then ey 0 Cm) = 0 5G.) However, if G(s) has two integrators; then as” Clee) = Lim 40 5G,( SESS SRNR Problem 4.65 Consider a unity feedback cont function is On) = Ta B) Discuss the effect that varying the values error in unit ramp response. i:sine Domain Analysis Solution K G(s)= s(Js+B) Cs) Closed-loop transfer function = a = WEE _ Tice Here H(s) = | E(s) R(s)-C(s)___ Js? + Bs RO) ORG) ds? + Boe E(s) = JP +B) 1 (for ramp i 4 Js°+Bs+K s? PuREU) 0 Js? + Bot K « Steady state error e,, can be reduced by increasing the gain K the visous friction co-efficient B. + However, the above will cause reduction in damping 1 will make the transient response to be oscillatory. * Since ¢ is inversly proportional to the square root of e,, Will reduce to half its original value and & will original valve. + However, if B is decreased to half its original val to the halves of there original values, respectively. * Therefore itis always advisable to increase the the value of B. The steady state error due to various valves of 2 ey = e(ce) = LIM sK(5) = tif te