ONE

Basic Control System Concepts

ANSWERS TO REVIEW QUESTIONS 1. Guided missiles, automatic gain control in radio receivers, satellite tracking antenna 2. Yes - power gain, remote control, parameter conversion; No - Expense, complexity 3. Motor, low pass filter, inertia supported between two bearings 4. Closed-loop systems compensate for disturbances by measuring the response, comparing it to the input response (the desired output), and then correcting the output response. 5. Under the condition that the feedback element is other than unity 6. Actuating signal 7. Multiple subsystems can time share the controller. Any adjustments to the controller can be implemented with simply software changes. 8. Stability, transient response, and steady-state error 9. Steady-state, transient 10. It follows a growing transient response until the steady-state response is no longer visible. The system will either destroy itself, reach an equilibrium state because of saturation in driving amplifiers, or hit limit stops. 11. Transient response 12. Determine the transient response performance of the system. 13. Determine system parameters to meet the transient response specifications for the system. 14. True 15. Transfer function, state-space, differential equations 16. Transfer function - the Laplace transform of the differential equation

1-2 Chapter 1: Basic Control System Concepts

State-space - representation of an nth order differential equation as n simultaneous firstorder differential equations Differential equation - Modeling a system with its differential equation

SOLUTIONS TO PROBLEMS

1. Five turns yields 50 v. Therefore K =

50 volts = 1.59 5 2 rad

2.
Desired roll angle Pilot controls Input voltage Error voltage Aileron position control Aileron position Aircraft dynamics Roll rate Integrate Roll angle

+ -

Gyro voltage

Gyro

3.
Desired speed transducer Input voltage Speed Error voltage

+ -

Amplifier

Motor and drive system Dancer dynamics

Actual speed

Voltage proportional to actual speed

Dancer position sensor

Solutions to Problems 1-3

4.
Input voltage Power Error voltage Amplifier Rod position Motor and drive system Sensor & transducer Actual power Reactor

Desired power Transducer

+ Voltage proportional to actual power

5.

6.
Voltage proportional to desired volume Voltage representing actual volume Volume control circuit Radio

Desired volume

Volume error

Actual volume

Transducer

Effective volume

+ Transducer Voltage proportional to speed

Speed

1-4 Chapter 1: Basic Control System Concepts

7. a.
Fluid input

Valve Actuator Power amplifier +V Differential amplifier + -V

Desired level

Float Tank

+V

-V Drain

b.
Desired level Potentiometer voltage in + Flow rate in + Actual level Integrate

Amplifiers

Actuator and valve

Flow rate out voltage out Displacement Potentiometer Float

Drain

Solutions to Problems 1-5

8.
Desired force Transducer + Amplifier Current Valve Displacement Actuator and load Displacement Tire Actual force

Load cell

9.
Commanded blood pressure + Vaporizer Isoflurane concentration Actual blood pressure Patient

10.
Desired depth + Controller & motor Force Grinder Feed rate Integrator Depth

11.
Desired position Transducer Coil voltage + Coil circuit Coil current Solenoid coil & actuator Force Armature & spool dynamics Depth

LVDT

1-6 Chapter 1: Basic Control System Concepts

12. a.
Nervous system electrical impulses Desired Light Intensity

Brain

Internal eye muscles

Retinas Light Intensity

Retina + Optical

b.
Nervous system electrical impulses Desired Light Intensity

Brain

Internal eye muscles

External Light

Retina + Optical Nerves

Retinas Light Intensity

If the narrow light beam is modulated sinusoidally the pupils diameter will also vary sinusoidally (with a delay see part c) in problem)
c.

If the pupil responded with no time delay the pupil would contract only to the point where a small amount of light goes in. With delay, then the pupil would stop contracting and would remain with a fixed diameter.

Solutions to Problems 1-7

13.
Desired +

Computer

Amplifier

Actual

Gyroscopic

14.

Desired Body Temperature

Light Stimulus Measured Body Temperature

Circadian Cycle Model

+ Controller Astronaut

15. a. L

di + Ri = u ( t ) dt

b. Assume a steady-state solution iss = B . Substituting this into the differential equation yields

RB = 1 , from which B =

1 R . The characteristic equation is LM + R = 0 , from which M = . R L 1 . Solving for the arbitrary constants, R

Thus, the total solution is i ( t ) = Ae ( R / L )t + i ( 0) = A +

1 1 1 1 R/L t 1 R/L t = 0 . Thus, A = . The final solution is i ( t ) = e ( ) = 1 e ( ) . R R R R R

1-8 Chapter 1: Basic Control System Concepts

c.

16. a. Writing the loop equation, Ri + L

di 1 + idt + vC ( 0 ) = v ( t ) dt C d 2i di + 2 + 30i = 0 2 dt dt

b. Differentiating and substituting values,

Writing the characteristic equation and factoring, M 2 + 2 M + 30 = M + 1 + 29i M + 1 29i .

)(

The general form of the solution and its derivative is

i = e t cos di = A+ dt

) ( ( 29t )) e 29 B ) e cos ( 29t ) ( 29 A + B ) e

29t A + B sin
t t

sin

29t

Using i ( 0 ) = 0;
i ( 0) = A = 0

v ( 0) 1 di ( 0) = L = = 2 dt L L

di ( 0 ) = A + 29 B = 2 dt Thus, m A = 0 and B = 2 . 29

Solutions to Problems 1-9

The solution is i=

2 29e t sin 29

29t

)
i

c.

17. a. Assume a particular solution of

Substitute into the differential equation and obtain

( 7C + 2 D ) cos ( 2t ) + ( 2C + 7 D ) sin ( 2t ) = 5cos ( 2t )

Equating like coefficients,
7C + 2 D = 5 2C + 7 D = 0 35 10 and D = . 53 53

From which, C =

The characteristic polynomial is

M +7 = 0

1-10 Chapter 1: Basic Control System Concepts

Thus, the total solution is 10 35 x ( t ) = Ae 7 t + cos [ 2t ] + sin [ 2t ] 53 53 Solving for the arbitrary constants, x ( 0 ) = A + 35 35 = 0 . Therefore, A = . The final solution is 53 53

10 35 35 x ( t ) = e 7 t + cos [ 2t ] + sin [ 2t ] 53 53 53
b. Assume a particular solution of

x p = A sin 3t + B cos 3t Substitute into the differential equation and obtain

(18 A B ) cos ( 3t ) ( A + 18B ) sin ( 3t ) = 5sin ( 3t )

Therefore, 18 A B = 0 and ( A + 18 B ) = 5 . Solving for A and B we obtain
x p = ( 1/ 65 ) sin 3t + ( 18 / 65 ) cos 3t

The characteristic polynomial is

M 2 + 6 M + 8 = ( M + 4 )( M + 2 )

Thus, the total solution is 1 18 x = Ce 4t + De 2t + cos ( 3t ) sin ( 3t ) 65 65 Solving for the arbitrary constants, x ( 0 ) = C + D Also, the derivative of the solution is dx 3 54 = cos ( 3t ) + sin ( 3t ) 4Ce 4t 2 De 2t dt 65 65 3 3 15 . 4C 2 D = 0 , or C = and D = 65 10 26 18 =0. 65

Solving for the arbitrary constants, x ( 0 ) The final solution is x=

18 1 3 15 cos ( 3t ) sin ( 3t ) e 4t + e 2t 65 65 10 26

Solutions to Problems 1-11

c. Assume a particular solution of

xp = A Substitute into the differential equation and obtain 25 A = 10 , or A = 2 / 5 . The characteristic polynomial is
M 2 + 8M + 25 = ( M + 4 + 3i )( M + 4 3i )

Thus, the total solution is x= 2 4t + e ( B sin ( 3t ) + C cos ( 3t ) ) 5

Solving for the arbitrary constants, x ( 0 ) = C + 2 / 5 = 0 . Therefore, C = 2 / 5 . Also, the derivative of the solution is dx = ( ( 3B 4C ) cos ( 3t ) ( 4 B + 3C ) sin ( 3t ) ) e 4t dt Solving for the arbitrary constants, x ( 0 ) = 3B 4C = 0 . Therefore, B = 8 /15 . The final solution is x (t ) = 2 4t 8 2 e sin ( 3t ) + cos ( 3t ) 5 5 15

18. a. Assume a particular solution of

x p ( t ) = C cos ( 2t ) + D sin ( 2t )

Substitute into the differential equation and obtain 1 2 ( C 2 D ) cos ( 2t ) 4 C + D sin ( 2t ) = sin ( 2t ) 2 Equating like coefficients, 2 ( C 2 D ) = 0 1 4 C + D = 1 2

1-12 Chapter 1: Basic Control System Concepts

From which, C =

1 1 and D = . 5 10

The characteristic polynomial is

M 2 + 2 M + 2 = ( M + 1 + i )( M + 1 i )

Thus, the total solution is 1 1 x = cos ( 2t ) sin ( 2t ) + e t ( A cos [t ] + B sin [t ]) 5 10 1 11 Solving for the arbitrary constants, x ( 0 ) = A = 2 . Therefore, A = . Also, the derivative of 5 5 the solution is dx 1 2 = cos ( 2t ) + sin ( 2t ) + ( A + B ) e t cos ( t ) ( A + B ) e t sin ( t ) dt 5 5 3 Solving for the arbitrary constants, x ( 0 ) = A + B 0.2 = 3 . Therefore, B = . The final 5 solution is 1 1 3 11 x ( t ) = cos ( 2t ) sin ( 2t ) + e t cos ( t ) sin ( t ) 5 10 5 5
b. Assume a particular solution of
x p = Ce 2t + Dt + E

Substitute into the differential equation and obtain

Ce 2t + Dt + 2 D + E = 5e2t + t Equating like coefficients, C = 5, D = 1 , and 2 D + E = 0 . From which, C = 5, D = 1 , and E = 2 . The characteristic polynomial is

M 2 + 2 M + 1 = ( M + 1)

Solutions to Problems 1-13

Thus, the total solution is

x ( t ) = Ae t + Be t t + 5e 2t + t 2

Solving for the arbitrary constants, x ( 0 ) = A + 5 2 = 2 . Therefore, A = 1 . Also, the derivative of the solution is dx = ( A + B ) e t Bte t 10e2t + 1 dt Solving for the arbitrary constants, x ( 0 ) = B 8 = 1 . Therefore, B = 9 . The final solution is
x ( t ) = e t + 9te t + 5e 2t + t 2

c. Assume a particular solution of

x p = Ct 2 + Dt + E

Substitute into the differential equation and obtain 4Ct 2 + 4 Dt + 2C + 4 E = t 2 1 Equating like coefficients, C = , D = 0 , and 2C + 4 E = 0 . 4 1 1 From which, C = , D = 0 , and E = . 4 8 The characteristic polynomial is
M 2 + 4 = ( M + 2i )( M 2i )

Thus, the total solution is 1 1 x ( t ) = A cos ( 2t ) + B sin ( 2t ) + t 2 4 8 1 9 Solving for the arbitrary constants, x ( 0 ) = A = 1 . Therefore, A = . Also, the derivative of 8 8 the solution is dx 1 2 B cos ( 2t ) 2 A sin ( 2t ) + t 2 dt

1-14 Chapter 1: Basic Control System Concepts

Solving for the arbitrary constants, x ( 0 ) = 2 B = 2 . Therefore, B = 1 . The final solution is 9 1 1 x ( t ) = cos ( 2t ) + sin ( 2t ) + t 2 8 4 8
19.
Spring displacement Desired force Input voltage + Input transducer Controller Actuator F up Pantograph dynamics F out

Spring

Sensor

20.