SPECIMEN Exam Question Paper

College: Engineering, Design, and Physical Sciences

Department: Mechanical and Aerospace Engineering

Exam Author(s):

Module Code: ME3618

Module Title: Mechatronics and Control Engineering

Sample No: 2 Year:

Duration: 2 hours

Question Instructions: Please answer COMPULSORY question A1 and one

more question from SECTION A, each carry 25
marks, and a further TWO questions from SECTION
B, each carrying 25 marks.
If you submit answers to more questions than
specified, final marks for the examination will be
determined using the best marks which satisfy the
rubric.

Are Calculators Permitted? Yes.

Permitted Reference
Materials: Table of Laplace transform
Additional Required
Stationery:

By continuing beyond this point, you confirm that you have read the information and instructions
above, and understand the conditions of this examination.
Question A1.
Consider the mechanical system shown in Figure A1. The wheel with inertia J moves
only about the stationary axis A. r is radius of the wheel. Friction f v is proportional to
velocity with a coefficient of c. There is no friction between the body M and the
bottom surface. M is the mass of the body. b is damping coefficient. T ¿ is the input
torque to the wheel.

T¿
fv
b
M

Figure QA1

(a) Draw the free body diagram for the system.

[20%]
(b) Write the differential equations for the system.
[20%]
(c) Consider the torque T ¿ is the input, whilst the displacement of body of mass M
is the output of the system. Write the transfer function for the system.
[20%]
(d) A proportional controller Kp is applied. Draw the closed loop block diagram for
the system.
[20%]
(e) Write the closed loop transfer function for the system with controller Kp.
[20%]
A2.
(a) What is the mathematical expression in the time domain of a parallel
form of Proportional Integral Derivative (PID) controller?
[20%]
(b) What is the transfer function of a parallel form of PID controller?
[20%]
(c) What is the block diagram of a parallel form of PID controller?
[30%]
(d) What are the definitions of rise time, settling time, peak time, and
overshoot? Illustrate with assistance of a sketch.
[30%]
A3.

(a) Find the Laplace transform of the following time functions:

(i) F ( t )=2+3 t +5 t 3

[20%]

(ii) F ( t )=(2+3 t )2 +7 t 3

[20%]

(iii) F ( t )=3 sin ⁡(2 t)+ 5 cos ⁡( 3t )

[20%]

(b) When x=x ( t ) is a function of time, use Laplace transforms to solve

2
d x dx
(i) =2, with initial conditions x ( 0 )=0 and (0)=1
dt
2
dt

[20%]

dx
(ii) +3 x=3 , with initial conditions x ( 0 )=0
dt

[20%]
B1

(a) What is Frequency Response of a system?

[30%]

(b) Find the Frequency Response of the system with the transfer function
3 s +1
G ( s )= 3 2
s +2 s +5
[30%]
B2.
(a) The open loop transfer of a unity negative feedback control system is:
K
G ( s )= .
(s+ 2)(2 s+3)(s+6)

(i) Find the value of K when the polar plot passes through the point (-1 j)
−1 −1 −1 A+ B
on the complex plane. Note: tan A +tan B=tan
1−AB

(ii) When K = 10, find the stability gain margin of the system
B3.
(a) The open loop transfer of a unity negative feedback control system is shown
below. Find the approximate phase margin of the system.
25
G ( s )=
s (s+3)
Table of Laplace Transforms

Properties of Laplace transforms Laplace transform pairs

Property f (t ) F(s) f (t ) F(s)

Linearity a 1 f 1 ( t ) +a2 f 2 (t ) a 1 F 1 ( s ) +a 2 F 2 (s ) δ (t ) 1

Scaling f ( at ) 1
F
a a
s
() u (t ) 1
s

Time shift f ( t−a ) u ( t−a ) e−as F ( s ) t 1

2
s

Frequency e
−at
f (t ) F ( s+ a ) t
n
n!
shift s
n+1

Time df sF ( s ) −f (0) te
−at
1
differentiation dt ( s+ a)
2

2
d f
2
s F ( s )−sf ( 0 ) −f (0)
' n −at
t e n!
n+1
dt
2
( s+ a)
n
d f
n
s F ( s )−s
n−1
f ( 0 )−s f ( 0sin
n−2 '
ωt (n−1) ( 0 )
)−⋯−f ω
2 2
dt
n
s +ω

Time t
1 cos ωt s
integration ∫ f (x )dx s
F( s) 2
s +ω
2
0

Frequency tf ( t ) −d sin(ωt+ θ) s sinθ+ω cos ⁡θ

F (s )
differentiation ds 2
s +ω
2

Frequency f (t) ∞
cos (ωt +θ) s cosθ−ω sinθ
integration t ∫ F (s)ds 2
s +ω
2
s
Table of Derivatives and Differentiation Rules

Derivatives Differentiation Rules

y=f ( x ) dy ' Constant d
=f (x ) [c ]=0
dx Rule dx
K , any constant 0 Power d n n−1
x =n x
Rule dx
x 1 Product d
Rule dx
[ f ( x ) g ( x ) ] =f ( x ) g ( x )+ f ( x ) g (x)
' '

2x
[ ]
2 ' '
x Quotient d f (x ) g ( x ) f ( x )−f ( x )g ( x )
Rule =
dx g( x) g 2 (x)

x
n
nx
n−1
Chain d
¿
Rule dx
x x
e e
kx kx
e ke
sin x cos x
sin kx k cos kx
cos x −sin x
cos kx −k sin kx

*****