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Mechanical Engineering 4R03 Mechanical Controls: Student Name

This document is a 100-mark midterm exam for a mechanical controls course. It consists of 4 questions worth a total of 100 marks. Question 1 is worth 30 marks and involves sketching a root locus plot for a servo system transfer function. Question 2 is worth 30 marks and uses root locus design to design a controller for the servo system. Question 3 is worth 30 marks and uses Ziegler-Nichols design to design a proportional controller for the servo system. Question 4 is worth 10 marks and asks students to explain the purpose of each gain in a PID controller and how changing each gain affects the system response.

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109 views2 pages

Mechanical Engineering 4R03 Mechanical Controls: Student Name

This document is a 100-mark midterm exam for a mechanical controls course. It consists of 4 questions worth a total of 100 marks. Question 1 is worth 30 marks and involves sketching a root locus plot for a servo system transfer function. Question 2 is worth 30 marks and uses root locus design to design a controller for the servo system. Question 3 is worth 30 marks and uses Ziegler-Nichols design to design a proportional controller for the servo system. Question 4 is worth 10 marks and asks students to explain the purpose of each gain in a PID controller and how changing each gain affects the system response.

Uploaded by

Mr Husso
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Mechanical Engineering 4R03

Mechanical Controls
Midterm Test III - 2021
100 Marks, 12% of Final Grade

Student Name: Student ID #:

Term II: Midterm III Examination Instructor: Dr. S. Habibi


Duration of Exam: 2 Hours

This examination paper includes 2 pages and 4 questions. You are responsible for ensuring that your copy is
complete. Please bring any discrepancies to the attention of your invigilator.

Special Instructions:
1- Open book exam.
2- Answer all questions.
3- Percentage mark for each question is as indicated
5- If required assume gravity to be 9.81m/s2
6- Please provide sufficient detail in your solution to follow the answer as a correct answer is not
necessarily worth full marks!

Summary of Grades:

Question 1 (30) _________


Question 2 (30) _________
Question 3 (30) _________
Question 4 (10) _________

Final. ________ _________

Page 1 of 2
Student Name: Student ID #:

The following Servo system shown in Figure 1 is used in all questions that follow.

Figure 1: Servo System

The open loop transfer function 𝐺𝑝 (𝑠) of the servo system shown in Figure 1 relating the demanded
input angle 𝜃𝑖𝑛 (𝑠) to the output angle 𝜃(𝑠) is:

𝜃 (𝑠) 4200
𝐺𝑝 (𝑠 ) = = (1)
𝜃𝑖𝑛 (𝑠) 1.7𝑠 3 +𝑝𝑠 2 +3418𝑠

Where the second coefficient:

𝒑 = 𝟏𝟕 + 𝒍𝒂𝒔𝒕 𝒅𝒊𝒈𝒊𝒕 𝒐𝒇 𝒚𝒐𝒖𝒓 𝒔𝒕𝒖𝒅𝒆𝒏𝒕 𝒏𝒖𝒎𝒃𝒆𝒓

Q 1.
Assuming unity feedback, sketch the root locus plot for the transfer function 𝐺𝑝 (𝑠) of equation (1). In this plot
include where applicable:
• The break in/out points
• Asymptote angles and junction location
• Angles of departure
• Crossing points on the imaginary axis

Q 2.
Assuming unity feedback and using the root locus design method, design a controller for the transfer function
𝐺𝑝 (𝑠) of equation (1) to achieve:
• Steady state error of zero
• Damping ratio of 0.9
• Peak time of 0.01sec

Q 3.
Assuming unity feedback and using the Ziegler Nichols method, design a controller using proportional gain
only for the transfer function 𝐺𝑝 (𝑠) of equation 1.

Q4.
In a Proportional-Integral-Derivative control strategy, explain:
a) What is the purpose of each gain.
b) What are the likely change in the system response as each of the gains is increased.

THE END

Page 2 of 2

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