Problems On Mechanical Systems

Control system1
EC 2255 CONTROL SYSTEMS 3003

AIM
To familiarize the students with concepts related to the operation analysis and
stabilization of control systems
OBJECTIVES
 To understand the open loop and closed loop (feedback ) systems
 To understand time domain and frequency domain analysis of control systems
required for stability analysis.
 To understand the compensation technique that can be used to stabilize control
systems
Control system modelling

1. CONTROL SYSTEM MODELING 9
Basic Elements of Control System – Open loop and Closed loop systems - Differential
equation - Transfer function, Modeling of Electric systems, Translational and rotational
mechanical systems - Block diagram reduction Techniques - Signal flow graph
2. TIME RESPONSE ANALYSIS 9
Time response analysis - First Order Systems - Impulse and Step Response analysis of
second order systems - Steady state errors – P, PI, PD and PID Compensation, Analysis
using MATLAB
3. FREQUENCY RESPONSE ANALYSIS 9
Frequency Response - Bode Plot, Polar Plot, Nyquist Plot - Frequency Domain
specifications from the plots - Constant M and N Circles - Nichol’s Chart - Use of
Nichol’s Chart in Control System Analysis. Series, Parallel, series-parallel Compensators
- Lead, Lag, and Lead Lag Compensators, Analysis using MATLAB.
4. STABILITY ANALYSIS 9
Stability, Routh-Hurwitz Criterion, Root Locus Technique, Construction of Root Locus,
Stability, Dominant Poles, Application of Root Locus Diagram - Nyquist Stability Criterion
- Relative Stability, Analysis using MATLAB
5. STATE VARIABLE ANALYSIS & DIGITAL CONTROL SYSTEMS 9
State space representation of Continuous Time systems – State equations – Transfer
function from State Variable Representation – Solutions of the state equations -
Concepts of Controllability and Observability – State space representation for Discrete
time systems. Sampled Data control systems – Sampling Theorem – Sample & Hold –
Open loop & Closed loop sampled data systems.
TOTAL : 45 PERIODS
TEXTBOOK:
1. J.Nagrath and M.Gopal,” Control System Engineering”, New Age International
Publishers, 5th Edition, 2007.
2. M.Gopal, “Control System – Principles and Design”, Tata McGraw Hill, 2nd
Edition, 2002.
REFERENCES:
1. Benjamin.C.Kuo, “Automatic control systems”, Prentice Hall of India, 7th
Edition,1995.
2. M.Gopal, Digital Control and State Variable Methods, 2nd Edition, TMH, 2007.
3. Schaum’s Outline Series,’Feedback and Control Systems’ Tata McGraw-
Hill, 2007.
4. John J.D’azzo & Constantine H.Houpis, ’Linear control system analysis and
design’, Tata McGrow-Hill, Inc., 1995.
5. Richard C. Dorf & Robert H. Bishop, “ Modern Control Systems”, Addidon –
Wesley, 1999.
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1. What is control system?
A system consists of a number of components connected together to
perform a specific function . In a system when the output quantity is
controlled by varying the input quantity then the system is called control
system.
2. What are the two major types of control system?

the two major types of control system are open loop and closed loop
3. Define open loop control system.
The control system in which the output quantity has no effect upon the input
quantity are called open loop control system. This means that the output is
not feedback to the input for correction.
4. Define closed loop control system.
The control system in which the output has an effect upon the input
quantity so as to maintain the desired output value are called closed loop
control system.
5. What are the components of feedback control system?
the components of feedback control system are plant , feedback path
elements, error detector and controller.
6. Define transfer function.
The T.F of a system is defined as the ratio of the laplace transform of output
to laplace transform of input with zero initial conditions.
7. What are the basic elements used for modeling mechanical
translational system.
Mass M, spring K and dashpot or damper B
8. What are the basic elements used for modeling mechanical rotational
system?
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Moment of inertia J,dashpot or damper B and
spring K
9. Name two types of electrical analogous for mechanical system.
The two types of analogies for the mechanical system are
Force voltage and force current analogy
10. What is block diagram?
A block diagram of a system is a pictorial representation of the functions

performed by each component of the system and shows the flow of
signals.The basic elements of block diagram arew block, branch point and
summing point.
11. What is the basis for framing the rules of block diagram reduction
technique?
The rules for block diagram reduction technique are framed such that any
modification made on the diagram does not alter the input output relation.
12. What is a signal flow graph?
A signal flow graph is a diagram that represents a set of simultaneous
algebraic equations .By taking L.T the time domain differential equations
governing a control system can be transferred to a set of algebraic equations
in s-domain.
13. What is transmittance?
The transmittance is the gain acquired by the signal when it travels from
one node to another node in signal flow graph.
14. What is sink and source?
Source is the input node in the signal fow graph and it has only outgoing
branches. Sink is a output node in the signal flow graph and it has only
incoming branches.
15. Define nontouching loop.
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The loops are said to be non touching if they do not have common nodes.

16. Distinguish between open loop and closed loop system
Open loop Closed loop
1.Innaccurate Accurate
2.Simple and economical Complex and costlier
3.The changes in output due to The changes in output due to
external disturbance are not corrected external disturbances are corrected

automatically
4.They are generally stable Great efforts are needed to design a
stable system
17. Why is negative feedback invariably preferred in closed loop system?
The negative feedback results in better stability in steady state and rejects
any disturbance signals.
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PART – A
1. What is system and control system?

2. What are the types of control system and explain it?
3. Write the application for open loop and closed loop control system.
4. Distinguish the open loop and closed loop control systems.
5. What are the components of control system?
6. Define transfer function.
7. What is differential equation?
8. What are the basic elements used for modeling mechanical

translational system?
9. Write the force balance equation for
a. Ideal mass element
b. Ideal Dash-pot
c. Ideal spring
10. What are the basic elements used for modeling
mechanical rotational system?
11. Write the torque balance equations for
a. Ideal rotational mass element
b. Ideal rotational Dash-pot
c. Ideal rotational spring
12. What are all the two types of electrical analogous of

mechanical system?
13. What is Block diagram?
14. What are all the components of Block diagram?
15. What is a signal flow graph?
16. What is transmittance?
17. Define non-touching loops.
18. Write the properties of signal flow graph.
19. Write the mason’s gain formula.
20. Compare the block diagram representation and
signal flow graph.
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BASIC ELEMENTS OF MECHANICAL SYSTEM
ELEMENT SYMBOL FORCE
Mass(M)

Damper(B)
Spring(K)
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PROBLEMS ON MECHANICAL SYSTEMS
1. Write the differential equation and find out the transfer function for given
mechanical system

Solution:
STEP1: Free hand drawing
To find differential equation:
By newton’s law,
(1)
Take laplace transform for (1)
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Control system8
2.Write the differential equation and find out the transfer function for given
mechanical system

Soln:
STEP1: Free hand drawing from Mass (M1)
By newton’s law,
(1)
(2)
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By newton’s law,
(3)
(4)
SUB/: (4) in (2)
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mechanical system
Soln:

Here applied force =0
By newton’s law,
(1)
(2)
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By newton’s law,
(3)
(4)
SUB/: (2) in (4)
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mechanical system
Soln:

To find
differential
equation:
By newton’s law,
(1)
(2)
By newton’s law,
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(3)

(4)
SUB/: (2) in (4)
BASIC ELEMENTS OF ROTATIONAL SYSTEM
ELEMENT SYMBOL FORCE
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Inertia(J)
Damper(B)

Spring(K)
1)Write the differential equation and find out the transfer function for given
rotational system
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Soln:

By newton’s law,
(1)
(2)
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(3)

(4)
SUB/: (2) in (4)
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ELECTRICAL ANALAGOUS OF MECHANICAL SYSTEM
Force voltage analogy:
Mechanical system Electrical system
Force ,f(t) Voltage source V
Inductance L
Mass,M

Damper ,B Resistance, R
Spring ,k Capacitance ,C
Hints
i) if there is one displacement put the elements in series
ii) if there is Change in displacement put the elements in parallel
Force current analogy:
Force ,f(t) Current source I
Capacitance,C
Mass,M
Spring ,k Inductance L
Hints
i) if there is one displacement put the elements in parallel
ii) ii) if there is Change in displacement put the elements in series
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ELECTRICAL ANALAGOUS OF ROTATIONAL SYSTEM
Torque voltage analogy:
Torque Voltage source V
Inductance L
Inertia,J

Spring ,k Capacitance ,C
Hints
i) if there is one displacement put the elements in series
ii) if there is Change in displacement put the elements in parallel
Torque current analogy:
Torque Current source I
Capacitance,C
Inertia,J
Spring ,k Inductance L
Hint
i) if there is one displacement put the elements in parallel
ii) if there is Change in displacement put the elements in series
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1. Write the differential equation and Draw force-current and force-voltage analogy
Solution:

STEP1: Free hand drawing
By newton’s law,
Force-Voltage Analogy
Force-Current Analogy
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Soln:

By newton’s law,
By newton’s law,
Differential Equation are
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R2
L1
C1 R2 L2
R1 C2
I
3.Write the differential equation and Draw force-current and force-voltage analogy
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Soln:

Here applied force =0
By newton’s law,
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By newton’s law,

C2
R2 R3
L2
R1
L1
C1
I
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Soln:
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Control system1

EC 2255 CONTROL SYSTEMS 3003

Control system modelling

1. What is control system?

A system consists of a number of components connected together to

perform a specific function . In a system when the output quantity is

2. What are the two major types of control system?

Control system modelling

3. Define open loop control system.

not feedback to the input for correction.

4. Define closed loop control system.

5. What are the components of feedback control system?

the components of feedback control system are plant , feedback path

elements, error detector and controller.

6. Define transfer function.

to laplace transform of input with zero initial conditions.

7. What are the basic elements used for modeling mechanical

Mass M, spring K and dashpot or damper B

Moment of inertia J,dashpot or damper B and

9. Name two types of electrical analogous for mechanical system.

The two types of analogies for the mechanical system are

Force voltage and force current analogy

10. What is block diagram?

A block diagram of a system is a pictorial representation of the functions

Control system modelling

12. What is a signal flow graph?

A signal flow graph is a diagram that represents a set of simultaneous

governing a control system can be transferred to a set of algebraic equations

13. What is transmittance?

one node to another node in signal flow graph.

14. What is sink and source?

15. Define nontouching loop.

Control system modelling

Open loop Closed loop

2.Simple and economical Complex and costlier

3.The changes in output due to The changes in output due to

external disturbance are not corrected external disturbances are corrected

4.They are generally stable Great efforts are needed to design a

17. Why is negative feedback invariably preferred in closed loop system?

any disturbance signals.

1. What is system and control system?

Control system modelling

12. What are all the two types of electrical analogous of

BASIC ELEMENTS OF MECHANICAL SYSTEM

ELEMENT SYMBOL FORCE

Control system modelling