Prince Sattam bin Abdulaziz University ‫جامعة األمير سطام بن عبدالعزيز‬

College of Engineering
Department of Electrical ‫كلية الهندسة‬
Engineering ‫قسم الهندسة الكهربائية‬
EE4551 Control System Design and
Simulation ‫ كهر تصميم ومحاكاة نظم التحكم‬4511

Course Name:
EE 4551: Control Systems Design and Simulation

Homework No. (1): Modeling of Physical Systems

Academic Year 1438H/1439H -2017G/2018G

Student Name Group No.

ID No. Second Term

Teaching
Assistant/Lecturer
Notes Total
10
Eng.: Ismail Arafat Professor Name:
Prof. Fayez F. M. El-Sousy

Signature Signature

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Answer the Following Questions:
Question No. (1)
A magnetic amplifier with a low-output impedance is shown in Figure (1) in cascade with
a low-pass filter and a preamplifier. The magnetic amplifier has a high-input impedance
and a gain of K=10 and  = 1 sec.
(a) Draw the block diagram of the system
(b) Obtain the transfer function Vo(s)/Vin(s)

50 W
- K
Vo (s)
(s  1)
Vin (s) +
Magnetic C
Amplifier
Amplifier C=2000 F

Figure (1) Block diagram of the magnetic amplifier system

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Question No. (2)
(a) Determine the transfer function Eo(s)/Ei(s) of the lead-lag network circuit shown in
Figure (2-a).
(b) Determine the transfer function Eo(s)/Ei(s) of the operational amplifier circuit
shown in Figure (2-b).

(a)

(b)
Figure (2) (a) the lead-lag network (b) operational amplifier circuit

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Question No. (3)
The position control system for a spacecraft platform is governed by the following
equations:
d 2P dP
2
2  4 P(t )   (t )
dt dt
1 (t )  R(t ) - P(t )
d
 0.62 (t ) 2 (t )  71 (t )
dt
where
R(t) : the desired platform position P(t) : the actual platform position
1 (t ) : the amplifier input voltage 2 (t ) : the amplifier output voltage
 (t ) : the motor shaft position
(a) Draw the block diagram of the system
(b) Determine the system closed-loop transfer function P(s)/R(s)

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Question No. (4)
The water level, h(t), is controlled by an open-loop control system shown in Figure (4). A
DC motor controlled by an armature current ia(t) turns a shaft, opening a valve. The
inductance of the DC motor is negligible, that is, La=0. Also, the rotational friction of the
motor shaft and valve is negligible, that is =0. The height of the water in the tank is given
by:
h(t )   1.6 (t ) - h(t ) dt
The DC motor dynamics are given by:
d (t )
va (t )  Ra ia (t )  vb(t )  (t ) 
dt
d (t )
Tm (t )  K mia (t )  J   (t )
dt 2
Motor resistance: Ra = 10 W Rotor inertia: J = 0.005 oz-in-sec2
Motor inductance: La =0 Back–emf constant: vb = 0.0706 V/rad/sec
Torque constant: Km = 10 oz-in/A Amplifier gain Ka =50
Motor friction =0

Figure (4) Block diagram of liquid level control system

(a) Draw the functional block diagram for the overall system, showing the
functional relationship between the transfer function.
(b) Find the open –loop transfer function G(s)=h(s)/V(s).

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Question No. (5)
Consider the mechanical system shown in Figure (5). The system dynamic equation is
given by:
f (t )  My(t )  By (t )  Ky
Where M=2 kg, B=4 N.s/m

(a) Draw the block diagram of the system,

B
Figure (5) Schematic diagram of a mechanical system

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Question No. (6)
The schematic diagram of Figure (6) represents a liquid level control system. The liquid
level is monitored by a float whose position is h(t). All the system parameters and
equations are given as follows:
d m(t )
ea (t )  Raia (t )  Kbm (t ) m (t ) 
dt
d 2 m (t ) d m(t )
Tm (t )  Kiia (t )  ( J m  n2 J L ) 2
  (t )  n m(t )
dt dt
The equations that govern the volume of flow rate are as follows:
 qi (t ) - qo (t )dt
1
qi (t )  K I N (t ) qo (t )  Koh(t ) h(t ) 
A
(c) Draw the functional block diagram for the overall system, showing the
functional relationship between the transfer function.
(d) Find the open–loop transfer function G(s)=H(s)/E(s).

Figure (6) Block diagram of liquid level control system

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Question No. (7)
The schematic diagram of Figure (7) represents a control system whose purpose is to hold
the level of the liquid in the tank at a desired level. The liquid level is controlled by a float
whose position h(t) is monitored. Given the closed–loop of the liquid level control system
shown in Figure (1). All the system parameters and equations are given as follows:

Motor resistance Ra = 10 W
Motor inductance La =0
Torque constant Ki = 10 oz-in/A
Rotor inertia Jm = 0.005 oz-in-sec2
Back –emf constant Kb = 0.0706 V/rad/sec
Load inertia JL = 10 oz-in-sec2
Gear ratio n = N1/N2 = 1/100
Amplifier gain Ka =50
Area of the tank A = 50 ft2
Motor friction =0
Input flow rate KI = 10 ft3/sec-rad
Output flow rate Ko = 50 ft2/sec
Number of valves N=10
d m(t )
ea (t )  Raia (t )  Kbm (t ) m (t ) 
dt
d 2 m (t ) d m(t )
Tm (t )  Kiia (t )  ( J m  n2 J L ) 2
  (t )  n m(t )
dt dt
The equations that govern the volume of flow rate are as follows:
 qi (t ) - qo (t )dt
1
qi (t )  K I N (t ) qo (t )  Koh(t ) h(t ) 
A
The error detector is modeled as:
e(t )  Ks [r (t ) - h(t )] K s  1 V/ft
(e) Draw the functional block diagram for the overall system, showing the
functional relationship between the transfer function.
(f) Let the transfer function of the controller, Gc(s), be unity. Find the open –loop
transfer function G(s)=H(s)/E(s) and the closed–loop transfer function
T(s)=H(s)/R(s).

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Figure (7) Block diagram of liquid level control system

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Question No. (8)
Consider the servo system shown in Figure (8). The motor shown is a servomotor, a dc
motor designed specifically to be used in a control system. The operation of this system is
as follows: A pair of potentiometers acts as an error-measuring device. They convert the
input and output positions into proportional electric signals. The command input signal
determines the angular position r(t) of the wiper arm of the input potentiometer. The
angular position r(t) is the reference input to the system, and the electric potential of the
arm is proportional to the angular position of the arm. The output shaft position determines
the angular position c(t) of the wiper arm of the output potentiometer. The difference
between the input angular position r(t) and the output angular position c(t) is the error
signal ev(t). The error voltage, ev(t), that appears at the potentiometer terminals is amplified
by the amplifier whose gain constant is K1. The output voltage of this amplifier is applied
to the armature circuit of the dc motor. The equations that describe the dynamics of the dc
motor control system are:
dia (t ) d (t )
ea (t )  Raia (t )  La  Kb (t )  (t )  ea (t )  e (t ) K1
dt dt
d 2 (t ) d (t )
Tm (t )  Kiia (t )  ( J  n2 J L ) 
dt 2 dt
c(t )  n (t )
The error detector is modeled as:
e (t )  Ks [r (t ) - c(t )]
Ra = 10 W, La = 0.1 H, Ki = 10 oz-in/A, J = 0.005 oz-in-sec2,  = 0.002 N.m.sec, Kb =
0.0706 V/rad/sec, JL = 10 oz-in-sec2, n = N1/N2 = 1/100, Ks = 2 V/rad.
(a) Draw the functional block diagram for the overall system, showing the
functional relationship between the transfer function.
(b) Find the open –loop transfer function G(s)=(s)/Ev(s)
(c) Find the closed–loop transfer function T(s)=C(s)/R(s).

Figure (8) Schematic diagram of servo system

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Question No. (9)
Consider the servo system shown by the system in Figure (9). The DC servo motor
dynamic equations are given by:
ea (t ) - em (t ) d m(t )
ia (t )  em (t )   ea  K A(e1 - e2 )
Ra dt
e1 (t )  K  i(t ) e2 (t )  K  o(t ) K  A /  volts/radian
d 2 m (t ) d m(t )
Tm (t )  ia (t )  J  o (t )  n m(t )
dt 2 dt
 1
n
1
Km   150 v.sec/rad m   0.4
  2  sec
10 Ra J
  
 J Ra 
J
Ki
Gc (s)  ( K p   K d s)
s
(g) Draw the functional block diagram for the overall system, showing the
functional relationship between the transfer function.
(h) Prove that the transfer function of the DC motor

 m ( s) Ra J

Ea ( s )    2 

s s     
  J Ra J  
(i) Find the closed transfer function of the system  o ( s)  i( s)

Figure (9) Schematic diagram of the robot-arm control system

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Question No. (10)
Consider the machine tool control system shown in Figure (10). The prime mover shown
is a dc servomotor. The operation of this system is as follows: A pair of potentiometers
acts as an error-measuring device. They convert the input and output positions into
proportional electric signals. The command input signal determines the angular position
r(t) of the wiper arm of the input potentiometer. The angular position r(t) is the reference
input to the system, and the electric potential of the arm is proportional to the angular
position of the arm. The output shaft position determines the angular position c(t) of the
wiper arm of the output potentiometer. The difference between the input angular position
r(t) and the output angular position c(t) is the error signal ev(t). The error voltage, ev(t), is
controlled by the controller Gc(s) and amplified by the amplifier whose gain constant is Ka.
The output voltage of this amplifier is applied to the armature circuit of the dc motor. The
equations that describe the dynamics of the dc motor (prime mover), gear box, lead screw,
moving tool carriage and tool bit control system are:
dia (t ) d (t )
ea (t )  Raia (t )  La  Kb (t )  (t )  ea (t )  e (t )G c (t ) Ka
dt dt
d 2 (t ) d (t )
Tm (t )  Kiia (t )  ( J  n2 J L )  , c(t )  n (t )
dt 2 dt
The error detector is modeled as:
er (t )  K s r(t ) , ec (t )  K s c(t ) , e (t )  Ks [r (t ) - c(t )]
Ra = 10 W, La = 0.1 H, Ki = 10 oz-in/A, J = 0.005 oz-in-sec2,  = 0.002 N.m.sec, Kb =
0.0706 V/rad/sec, JL = 10 oz-in-sec2, n = N1/N2 = 1/100, Ks = 2 V/rad.
(d) Draw the functional block diagram for the overall system, showing the
functional relationship between the transfer function.
(e) Find the closed–loop transfer function T(s)=C(s)/R(s).

Figure (10) Schematic diagram of machine tool control system

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Question No. (11)
Consider the servo system shown by the system in Figure (11). The DC servo motor
dynamic equations are given by:
dia d m(t )
ia (t ) Ra  La  em (t )  ea (t ) em (t )   ea  K A(e1 - e2 )
dt dt
e1 (t )  K  i(t ) e2 (t )  K  o(t ) K  A /  volts/radian, A = 50 V
d 2 m (t ) d m(t )
Tm (t )  ia (t )  J 2
 o (t )  n m(t )
dt dt
1
n , Ra = 10 W, La = 0 H J = 0.005 Kg.m2 ,  = 0.002 N.m.sec,  = 0.324 N.m/A
10
(V/rad/sec)
(f) Draw the functional block diagram for the overall system, showing the
functional relationship between the transfer function.
(g) Find the closed–loop transfer function.
(h) Assume that a tachometer is attached directly to the motor and a potentiometer
is placed across the output terminals of the tachometer, such that the voltage on
the potentiometer wiper is
d m(t )
e3 (t )  KT
dt
The signal e3 is added to e2, such that the armature voltage is now
ea  K A(e1 - e2 - e3 )
Find the closed–loop transfer function and compare with (b) and comment.

Figure (11) Schematic diagram of the servo system

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Question No. (12)
Figure (12) shows the piping and instrumentation diagram of the Continuous Stirred-Tank
Heater (CSTH). The dynamic model of the process is given by:
dT 1 v
  T (t )  Ti (t )  KQ(t ) K 
dt C 
The heat Energy of the heater Q(t) is the manipulated variable, the controlled variable is
the output temperature of the liquid T and the disturbance is the temperature of the inlet
liquid Ti. K is the steady state gain of the heater.
v=1.6 ft3, C=0.32 BTU/IB F, =200 IB/min, =62.4 IB/ft3

Figure (12) Continuous Stirred-Tank Heater

(a) Complete the functional closed-loop diagram for the overall system with a
thermocouple as a temperature transducer for measuring T,
(b) Draw the closed-loop block diagram,
(c) Find the closed loop transfer function.

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Question No. (13)
Consider the servo system shown by the system in Figure (13). The DC servo motor
dynamic equations are given by:
ea (t ) - em (t ) d m(t )
ia (t )  em (t )   ea  K A(e1 - e2 )
Ra dt
e1 (t )  K  i(t ) e2 (t )  K  o(t ) K  A /  volts/radian, A = 15 V
d 2 m (t ) d m(t )
Tm (t )  ia (t )  J  o (t )  n m(t )
dt 2 dt
 1
n
1
Km   150 v.sec/rad m   0.4
Ra J  2  sec
10   
 J Ra 
J
(a) Draw the functional block diagram for the overall system, showing the
functional relationship between the transfer function.
(b) Prove that the transfer function of the DC motor

 m ( s) Ra J

Ea ( s )    2 
s s     
  J Ra 
J
(c) Find the closed transfer function of the system  o ( s)  i( s)

Figure (13) Schematic diagram of the servo system

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