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Tutorial Sheet 05

This document is a tutorial for ELL-225: Control Engineering, detailing various tasks including plotting Bode diagrams, finding transfer functions from Bode plots, determining phase margins for unity feedback systems, and drawing Nyquist plots. It also discusses the dynamics of a slave robotic manipulator and provides a specific transfer function for a joint, along with instructions for frequency domain analysis. The tutorial emphasizes the application of control theory in practical systems with minimum phase characteristics and decentralized control structures.

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26 views2 pages

Tutorial Sheet 05

This document is a tutorial for ELL-225: Control Engineering, detailing various tasks including plotting Bode diagrams, finding transfer functions from Bode plots, determining phase margins for unity feedback systems, and drawing Nyquist plots. It also discusses the dynamics of a slave robotic manipulator and provides a specific transfer function for a joint, along with instructions for frequency domain analysis. The tutorial emphasizes the application of control theory in practical systems with minimum phase characteristics and decentralized control structures.

Uploaded by

2022apporva
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

Tutorial #5

ELL-225: Control Engineering


Session: Semester-II (2024-25)

1. Plot the Bode diagram of


10(s2 + 0.4s + 1)
G(s) =
s(s2 + 0.8s + 9)
2. The experimental frequency response data of certain systems presented on Bode
plots and asymptotically approximated are shown in Figure below. Find the transfer
function in each case (systems are known to have minimum phase characteristics)

Figure 1: Bode Plots

3. Consider the unity feedback system whose open loop transfer function is
as + 1
G(s) =
s2
Determine the value of a so that the phase margin is 450 .
4. Draw Nyquist plot of the following OLTF

1 + 4s
G(s)H(s) =
s2 (1 + s)(1 + 2s)

5. A slave robotic manipulator/hand is a nonlinear system with coupled effects among


the joints. For such manipulators, the gear reduction ratio of the gear box at the
motors is high. The normal operating velocities and accelerations are limited. Plus,
the robotic hand usually grasps or manipulates the object in a limited area, and thus
the motion range of each joint is relatively small. These factors allow us to consider
the components of the nonlinear and coupling terms of robotic hand dynamics as
disturbances and a linear model for each joint is applicable. The idea leads to a
decentralized control structure, in which each joint is controlled independently of
the others.
Assume that the transfer function of a joint R1 is P (s), which includes the DAC
gain, the amplifier gain, the motor’s electrical-mechanical dynamic relation and the
encoder feedback gain. Then X(s) = P (s)V (s) where V (s) is the Laplace transform
of v(t), the voltage applied to the D/A channel of the I/O board, and X(s) is the
Laplace transform of x(t), the resulting position of joint R1 . In view of a single DC
motor control system, the open-loop transfer function for joint R1 has the form

K
P (s) =
s2 + as
where K = 48500 and a = 2.89. For designing suitable controllers, one may use
frequency domain analysis. To that end, carry out the following.

(a) Draw by hand a Bode plot using asymptotic approximations for magnitude and
phase.
(b) Find the phase margin and gain margin.

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