University of Moratuwa

Faculty of Engineering

Department of Electrical Engineering

M.Sc/PG Diploma in Industrial Automation

Semester 2 Examination 2018

EE5209 Mechatronics

Time allowed: Two Hours Only December 2018

INSTRUCTION TO CANDIDATES:

This paper contains 4 questions on 7 pages.

Answer all questions.

This paper accounts for 60% of the module assessment. The total maximum mark
attainable is 100. The marks assigned for each question and sections thereof are
indicated in square brackets.

Only lecture notes are allowed.

Assume reasonable values for any data not given in or with the examination paper.
Clearly state such assumptions made on the script.

If you have any doubt as to the interpretation of wording of question, make your own
decision, but clearly state it in the script.

All Examinations are conducted under the rules and regulations of the University.

Page 1 of 7
This page is intentionally left blank.

Page 2 of 7
Question 1

The Extended Kalman Filter is to be used to estimate the states of a two-phase permanent
magnet synchronous motor. The system equations are:

Ia =
−R
Ia +

sin  + a
( u + ua ) (1)
L L L

Ib =
−R
Ib +

cos  + b
( u + ub ) (2)
L L L
−3 3 F
= I a sin  + I b cos  − +  (3)
2J 2J J
 = (4)

The variables in these equations are defined as follows:

• Ia and Ib are the currents in the two motor windings.
• θ and ω are the angular position and velocity of the rotor.
• R and L are the motor winding’s resistance and inductance.
• λ is the flux constant of the motor.
• F is the coefficient of viscous friction that acts on the motor shaft and its load.
• J is the moment of inertia of the motor shaft and its load.
• ua and ub are the voltages that are applied across the two motor windings.
• ∆ ua and ∆ ub are noise terms due to errors in ua and ub.
• ∆α is a noise term due to uncertainty in the load torque.

State vector x is defined as x =  I a   .

T
Ib
It is assumed that we can directly measure the motor winding currents. Therefore, the
measurement vector y is defined as:
 I   
y =  a+ a
 I b   b 
The measurements are distorted by measurement noises  a and  b and the measurements are
taken at discrete time interval t .

a) Derive the discrete time system equation in the form of xk +1 = f ( xk , uk ) + wk

[6 marks]
b) Derive the Jacobian matrix of the system equation with respect to the state variables.
[8 marks]
c) Derive discrete time measurement equation in the form of the yk = h ( xk ) +  k
[3 marks]

Page 3 of 7
d) Derive the Jacobian matrix of the measurement equation with respect to the state
variables. [4 marks]

e) Derive the Jacobian matrix of the measurement equation with respect to measurement
noise. Give the measurement noise covariance matrix in symbolic form.
[4 marks]

Question 2

Consider the control system shown in Figure Q2 in which a PID controller is used to control
the system. The PID controller has the transfer function
 1 
Gc ( s) = K p 1 + + Td s 
 Ti s 
a) Obtain the closed-loop transfer function of the system setting Ti =  and Td = 0 .
[5 marks]
b) Find the value of the critical gain K cr that makes the system marginally stable so that
sustained oscillation occurs. (Hint: Use Routh’s stability criterion)
[6 marks]
c) Obtained the characteristic equation of the system when the system is marginally stable.
Hence find the frequency of the sustained oscillation. (Hint: s = j )
[3 marks]
d) Find the period of sustained oscillation Pcr .
[3 marks]
e) Determine the values of K p , K i and K d . (Hint: use the second method of Ziegler-Nichols
tuning rules)
[8 marks]

R(s) U(s) 1 C(s)

+_ Gc ( s )
s( s + 1)( s + 5)
PID
Plant
controller

Figure Q2: A PID controlled system

Page 4 of 7
Question 3

(a). Describe the working of single-phase semiconverter fed separately excited dc motor
with drive circuit, relevant waveforms and expressions. State any assumptions made.
[12 marks]
(b). A single-phase semiconverter feeds a separately excited dc motor. If the armature
current is ripple free, show that input power factor of the armature converter is given
by;
2
(1 + cos  )
 ( −  )
where  is the firing angle of the semiconverter feeding the armature circuit of the
motor.
[4 marks]
(c). A separately excited dc motor has its armature circuit connected to one semiconverter
and the field circuit connected to another semiconverter. The supply for both the
converters is single-phase, 230V, 50Hz. Resistance for the field circuit is 100Ω and that
for the armature circuit is 0.2Ω. Rated load torque is 80Nm at 1000rpm. The motor
constant is 0.8 V-s/A-rad (or 0.8 Nm/A2) and magnetic saturation is neglected. For
ripple free armature and field currents and with zero degree firing angle for the field
converter, determine,
(i) Rated armature current. [4 marks]
(ii) Firing angle of armature converter at rated load. [3 marks]
(iii)Input power factor of armature converter. [2 marks]

Page 5 of 7
Question 4

Figure Q4 shows a simplified schematic diagram of an Automated packing station. The

station packs six wine glasses individually into a preassembled wine glass box.

Figure Q4. An automated packing station

The automated packing station operates as follows.
• The Exit conveyor runs continuously.
• The Entry conveyor starts and stops as required.
• An empty box arrives at the Box locating jig on the entry conveyor.
• Sensor A detects the arrival of the empty box.
• The arrival of the box at Sensor A stops the Entry conveyor and triggers the raising of
the Shutter gate.
• Robot 1 loads six glasses, one at a time, from the Feeder into the box, then returns to the
home position and sends a “load complete” signal to the PLC.
• The Shutter gate is lowered, the Entry conveyor starts and the loaded box moves over the
shutter gate and onto the Exit conveyor.
• The fully packed box is transported away from the Automated packing station.
The system is fully automated once started. A continuous supply of glasses and boxes is
provided by the glass Feeder system and the Entry conveyor respectively.
The complete system is controlled by a Programmable Logic Controller (PLC) which
monitors the input and provides the output signals for the various parts of the Automated
packing station.
The robot is started by a signal from the PLC and returns a “load complete” signal when it
has completed loading the six glasses and has returned home.

Page 6 of 7
(a) Sketch a flowchart that shows the operation of the Automated packing station for the
loading cycle. Start your flowchart with a box arriving at Sensor A. [5 marks]
(b) Briefly describe a suitable device for Sensor A that would detect a box arriving at the
Box locating jig. [2 marks]
(c) State a suitable actuator that could be used for the shutter gate on this system and give
two reasons why you consider your chosen actuator to be a good choice. [3 marks]
(d) The system is to be modified to include variable speed control of the Entry conveyor.
Briefly describe:
(i) how the speed of the conveyor could be measured; [1 mark]
(ii) the modified control strategy and the signals involved. [2 marks]
(e) Suggest a suitable robot geometry for Robot 1 and justify your choice. [2 marks]
(f) There is a problem with damaged glasses being packaged by the Automated packing
station. Any damaged glass is to be automatically deposited in a waste bin.
Describe a suitable system that would:
(i) detect if a glass was damaged prior to packaging; [1 mark]
(ii) enable the system to carry out disposal. [2 marks]
(g) As an improvement, the robot system is to be modified to enable six glasses to be
loaded at a time. Sketch and briefly describe a suitable robot end effector that would
meet this requirement. [3 marks]
(h) State two hazards associated with this Automated packing station and briefly describe
how they may be addressed at the design stage. [4 marks]

Page 7 of 7