ENT 461 preclass quizset III

  1. A root locus is a plot of
    • both of these
    • poles of the CLTF
    • roots of the CLCE
  2. The significance of the CLCE roots was seen in the Routh table which predicted closed loop
    • instability
    • marginal stability
    • all of these
    • stability
  3. The significance of the CL poles is through their relationships to time domain parameters:
    • all of these
    • rise time 
    • percent overshoot
    • time constant
    • settle time
  4. The special form of the CLCE for making a root locus by hand is
    1+k*n(s)/d(s)=0
  5. The root locus procedure allows us to
    design a controller that will yield a CL system with the desired performance
  6. The CLCE is 1+k*n(s)/d(s)=0, and the values of s where n(s)=0 are plotted on the root locus plot as
    O's
  7. The CLCE is 1+k*n(s)/d(s)=0, and the values of s where d(s)=0 are plotted on the root locus plot as
    X's
  8. The root locus lies on the real axis to the left of an _____ number of X's and O's that lie on the real axis.
    odd
  9. The number of root locus segments is the number of
    X's
  10. Root locus segments begin at the ___, and begin means where k=0.
    X's
  11. As k increases the root locus segments go from the ____ to the _____, if there are the same number of O's as X's.
    X's, O's
  12. When there are more X's than O's, some of the root locus segments go to infinity along straight line segments called asymptotes.
    True
  13. The number of asymptotes is the number of ____ minus the number of _____.
    X's, O's
  14. When RL segments leave the real axis, they go in smooth arcs (usually circular) to the asymptotes or back to the real axis.
    True
  15. Sometimes that are more O's than X's.
    false
  16. If there is one asymptote, it will go to infinity
    down the negative-real axis
  17. If there are two asymptotes, they will go
    up and down, parallel to the imaginary axis.
  18. Asymptotes are symmetrical about the ___ axis.
    real
  19. All asymptotes for one system will intersect at the same point on the real axis, called the asymptote centroid.
    Truee
  20. The asmyptote centroid (sigma) = [ ( sum of the X's ) - ( sum of the O's ) ] / [ (number of X's) - (number of O's) ]
    True
  21. Break-away and break-in points are calculated from n*d'=d*n'
    True
  22. ANGLE OF DEPARTURE OR ARRIVAL: The sum of all the angles from the ___ MINUS the sum of all the angles from the ___ is equal to an odd multiple of 180 degrees.
    O's, X's
  23. The differentiator transfer function -0.4s/(0.02s+1) is due to capacitor and resistors around the differentiator opamp.
    True
  24. Gain3 is 3.75 due to
    • both of these
    • feedback capacitor around the integrator opamp
    • input resistor to the integrator opamp
  25. A description of each figure is also important.
    True
  26. Figure numbers with titles are important for each figure.
    True
  27. Individual labels for each trace are necessary if printed on a black and white printer.
    True
  28. Several things have to be set in the MATLAB script for simulink to run.
    False
  29. The simulation step size of 0.02 seconds is specified in ___ and used in ___.
    Simulink, simulink
  30. The servomotor system (actual servomotor) is used in this lab.
    false
  31. The motor/amplifier transfer function and output pot transfer function are determined from
    earlier labs
  32. The ADDITIONAL derivative and integral gains are determined from
    • none of these
    • the previous lab
    • MATLAB
    • Simulink
  33. If the PID output never exceeds plus or minus 1.25 volts, then the response will be linear
    True
  34. Which component makes the model nonlinear?
    saturation
  35. The output shaft transfer function is simulated as a
    constant
  36. The motor/amplifier is simulated as a ____-order transfer function.
    1st
  37. Differentiator part of the PID is selected or not by a
    switch in simulink
  38. Integrator part of the PID is selected or not by a
    switch in simulink
  39. The integrator and differentiator are implemented by
    s-domain transfer function
  40. Square wave and triangle wave signals are generated in ____ and used in ____.
    Simulink, simulink
  41. This lab simulates step and ramp responses of the servomotor system using PID, PD, and P controllers.
    True
  42. The integrator part of a PID controller can be implemented using an opamp with a
    capacitor in the feedback path.
  43. The derivative part of a PID controller can be implemented using an opamp with a
    capacitor between the input signal and the opamp input.
  44. The proportinal part of a PID controller can be implemented using an opamp with a
    non-inverting or inverting configuration.
  45. The integrator and differentiator time-domain effects ____independent.
    are not
  46. Increasing integral gain of a PID controller _______ overshoot.
    increases
  47. Increasing integral gain of a PID controller ______ steady state error.
    decreases
  48. Increasing derivative gain of a PID controller ______ overshoot.
    possibly decreases
  49. Increasing proportional gain of a PID controller ______ settle time.
    increases
  50. Increasing proportional gain of a PID controller _____ overshoot.
    increases
  51. Increasing proportional gain of a PID controller _____ steady-state error.
    decreases
  52. The pole in the transfer function (G(s) = Kd*(s^2 + (Kp/Kd)*s + (Ki/Kd)) / s) is/are
    at the origin
  53. The zeros in the transfer function (G(s) = Kd*(s^2 + (Kp/Kd)*s + (Ki/Kd)) / s) are
    two real or a complex conjugate pair
  54. The transfer function (G(s) = Kd*(s^2 + (Kp/Kd)*s + (Ki/Kd)) / s) has ___ zero(s) and ____ pole(s).
    2,1
  55. The transfer function (G(s) = Kd*(s^2 + (Kp/Kd)*s + (Ki/Kd)) / s) is a ____ controller, if Kp, and Kd are non-zero, and Ki is zero.
    PD
  56. The transfer function (G(s) = Kd*(s^2 + (Kp/Kd)*s + (Ki/Kd)) / s) is a ____ controller, if Kp, and Ki are non-zero, and Kd is zero.
    PI
  57. The transfer function (G(s) = Kd*(s^2 + (Kp/Kd)*s + (Ki/Kd)) / s) is a ____ controller, if Kp, Ki, and Kd are non-zero.
    PID
  58. The transfer function (G(s) = Kp + Kd*s) is a ____ controller
    PD
  59. The transfer function (G(s) = Kp + Ki/s) is a ____ controller.
    PI
  60. The transfer function (G(s) = Kp + Ki/s + Kd*s) is a ____ controller.
    PID
  61. The PID controller has three control operations in
    parallel
  62. The SS error for a unit parabola input is ____ for a type-2 system.
    1/Ka where Ka=s^2*G(s)|(s=0)
  63. The SS error for a unit parabola input is ____ for a type-1 system.
    infinity
  64. The SS error for a unit parabola input is ____ for a type-0 system.
    infinity
  65. The SS error for a unit ramp input is ____ for a type-2 system
    0
  66. The SS error for a unit ramp input is ____ for a type-1 system.
    1/Kv where Kv=s*G(s)|(s=0)
  67. The SS error for a unit ramp input is ____ for a type-0 system.
    infinity
  68. The SS error for a unit step input is ____ for a type-2 system.
    0
  69. The SS error for a unit step input is ____ for a type-1 system.
    0
  70. The SS error for a unit step input is ____ for a type-0 system.
    1/(1+Kp) where Kp=G(s)|(s=0)
  71. In determining SS errors, does it matter what N(s) in the forward transfer function G(s)?
    yes, if there are free factors of s
  72. Which of the following is the forward transfer functions of a unity feedback closed loop system, which is known as a type-2 system:
    G(s) = N(s) / ( s^2(s+1)(s+2)
  73. Which of the following is the forward transfer functions of a unity feedback closed loop system, which is known as a type-1 system:
    G(s) = N(s) / ( s(s+1)(s+2)(s+3)(s+4) )
  74. Which of the following is the forward transfer functions of a unity feedback closed loop system, which is known as a type-0 system:
    G(s) = N(s) / ( (s+1)(s^2+4s+13) )
  75. Which of the following is a unit parabola function?
    R(s)=1/s^3
  76. Which of the following is a unit ramp function?
    R(s)=1/s^2
  77. Which of the following is a unit step function?
    R(s)=1/s
  78. Which of the following is a unit parabola function?
    r(t)=t^2/2
  79. Which of the following is a unit ramp function?
    r(t)=t
  80. Which of the following is a unit step function?
    r(t)=1
  81. The angle of departure or arrival is calculated by adding all the angles from the X's minus the sum of all the angles from the O's which is equal to an ___ multiple of 180 deg.
    odd
  82. The angle of departure or arrival is calculated relative to a point on the RL that is ______the complex X or O.
    as close as possible to
  83. Angles of departure and angles of arrival are always measured relative to the ____ axis direction
    positive real
  84. The angle that a RL segment arrives at a complex O is called
    angle of arrival
  85. The angle that a RL segment leaves a complex X is called
    angle of departure
  86. When two X's are a complex conjugate pair, the two RL segments
    still leave the X's
  87. When there are more X's than O's, some of the root locus segments go to infinity along straight line segments called asymptotes.
    True
  88. As k increases the root locus segments go from the ____ to the _____, if there are the same number of O's as X's.
    X's, O's
  89. Root locus segments begin at the ___, and begin means where k=0.
    X's
  90. The number of root locus segments is the number of
    X's
  91. The root locus lies on the real axis to the left of an _____ number of X's and O's that lie on the real axis.
    odd
  92. The CLCE is 1+k*n(s)/d(s)=0, and the values of s where d(s)=0 are plotted on the root locus plot as
    X's
  93. The CLCE is 1+k*n(s)/d(s)=0, and the values of s where n(s)=0 are plotted on the root locus plot as
    O's
  94. The root locus procedure allows us to
    design a controller that will yield a CL system with the desired performance
  95. The special form of the CLCE for making a root locus by hand is:
    1+k*n(s)/d(s)=0
  96. The significance of the CL poles is through their relationships to time domain parameters:
    • all of these
    • rise time
    • percent overshoot
    • time constant
    • settle time
  97. The significance of the CLCE roots was seen in the Routh table which predicted closed loop
    • all of these
    • instability
    • marginal stability
    • stability
  98. A root locus is a plot of
    • both of these
    • poles of the CLTF
    • roots of the CLCE
  99. Break-away and break-in points are calculated from n*d'=d*n'
    True
  100. The asmyptote centroid (sigma) = [ ( sum of the X's ) - ( sum of the O's ) ] / [ (number of X's) - (number of O's) ]
    True
  101. All asymptotes for one system will intersect at the same point on the real axis, called the asymptote centroid.
    True
  102. Asymptotes are symmetrical about the ___ axis.
    real
  103. If there are two asymptotes, they will go up and down, parallel to the imaginary axis.
    True
  104. If there is one asymptote, it will go to infinity down the negative-real axis.
    True
  105. Sometimes that are more O's than X's.
    False
  106. When RL segments leave the real axis, they go in smooth arcs (usually circular) to the asymptotes or back to the real axis.
    True
  107. The number of asymptotes is the number of X's minus the number of O's.
    True
  108. When there are more X's than O's, some of the root locus segments go to infinity along straight line segments called asymptotes.
    True
  109. As k increases the root locus segments go from the X's to the O's, if there are the same number of O's as X's.
    True
  110. Root locus segments begin at the O's, and begin means where k=0.
    false, RL segments begin at the X's
  111. The number of root locus segments is the number of X's.
    True
  112. The root locus lies on the real axis to the left of an ODD number of X's and O's that lie on the real axis.
    True
  113. The CLCE is 1+k*n(s)/d(s)=0, and the values of s where d(s)=0 are plotted on the root locus plot as X's.
    True
  114. The CLCE is 1+k*n(s)/d(s)=0, and the values of s where n(s)=0 are plotted on the root locus plot as X's.
    false, roots of n(s) are plotted with O's
  115. The root locus procedure allows us to design a controller that will yield a CL system with the desired performance.
    True
  116. The special form of the CLCE for making a root locus by hand is 1+k*n(s)/d(s)=0.
    True
  117. The significance of the CL poles is through their relationships to time domain parameters:
    • all of these
    • rise time 
    • percent overshoot
    • time constant
    • settle time
  118. The significance of the CLCE roots was seen in the Routh table which predicted closed loop
    • all of these
    • instability
    • marginal stability
    • stability
  119. CLTF=Closed Loop Transfer function. CLCE=Closed Loop Characteristic Equation. A root locus is a plot of
    • both of these p
    • oles of the CLTF
    • roots of the CLCE
  120. The Routh-table procuedure was very useful in 1905, and even with today's calculators, it continues to be very useful.
    True
  121. A Routh table with a whole row of zeros (initially) will have ____ CLTF poles.
    jw-axis
  122. The number of unstable CLTF poles is the number of ______ in the first column of the Routh table.
    sign changes
  123. When the Routh table is completed, the number of CLTF poles ____ can be determined.
    • all of these
    • in the LHP 
    • on the jw axis
    • in the RHP
  124. Alternative-Routh table procedures are
    required when a zero shows up in the first column
  125. The right-hand column of each determinant is always the elements of the columns
    above and to the right
  126. The left-hand column of each determinant is always the ______ column of the previous two rows.
    first
  127. Every calculated entry in the Routh table is the negative determinant of entries in the previous two rows divided by the entry in the first column
    of the row directly above the calculated row.
  128. Are there any calculated entries in the first two rows of the Routh table
    no, because they come directly from D(s)
  129. Every entry in the Routh table starting with the third row is calculated from the
    previous two rows
  130. The second row of the Routh table contains all the other coefficients of D(s) that are not in the first row.
    true, and in decreasing powers of s like the first row
  131. The top row of the Routh table contains every other coefficient of D(s), where CLTF=N(s)/D(s).
    True
  132. The top row of the Routh table (first column) contains the coefficient of the highest power of s
    True
  133. The CLTF=N(s)/D(s). The coefficients of D(s), ordered from highst to lowest, are placed in the top ______ of the Routh table.
    two rows
  134. The number of columns in the Routh table is _____ number of terms in the denominator of the CLTF.
    half the
  135. The Routh table has row _____ starting at the top with highest power (s^n) and continuing all the way down to the lowest (s^0)
    labels
  136. In 1905, Routh-Hurwitz showed how to determine the number of closed loop poles in the left-half plane, right-half plane, and on the jw axis.
    True
  137. The question of closed loop stability is easily determined by the location of the closed loop poles.
    True
  138. Marginally stable closed loop poles are located in the complex plane
    on the jw axis
  139. Unstable closed loop poles are located in the complex plane
    in the right-half
  140. Stable closed loop poles are located in the complex plane
    in the left-half
  141. The significance of the closed loop poles is that they can be used to predict time-domain performance (settle time, rise time, percent overshoot) for stable systems.
    true, and are called stable poles
  142. The CLTF = N(s)/D(s), and the equation D(s)=0 can be formed. The values of s that satisfy D(s)=0 are the
    all of these and D(s)=0 is known as the closed loop characteristic equation
  143. The closed loop transfer function (CLTF) can be represented as N(s)/D(s), where the roots of D(s) are the _____ of the CLTF.
    poles
  144. The closed loop transfer function (CLTF) is a(n) _____-domain concept.
    s
  145. f.9070 Square or triangle signal to main summing junction
    YZ
  146. fig 9070
    If you want a PI controller, set the
    derivative-gain pot to zero only
  147. fig 9070
    If you want a PD controller, set the
    integral-gain pot to zero and short the integrator caps
  148. fig 9070
    f,g,h, and i connect any signal on the control panel to the simulated oscilloscope channels in the Espial program
    True
  149. fig 9070
    Output of PID controllers to Power Amp
    Le
  150. fig 9070
    Main summing junction to PID controllers
    ac
  151. fig 9070
    Proportional controller to summing junction
    IJ
  152. fig 9070
    Integrator controller to summing junction
    FH
  153. fig 9070
    Differentiator controller to summing junction
    SU
  154. fig 9070
    Main-summing juction to 360-deg output pot
    kb
  155. fig 9070
    Triangle-wave signal
    WX
  156. fig 9070
    Square-wave signal
    VX
  157. fig 9070
    Integrator caps in series. Do not connct to
    E
  158. fig 9070
    Differentiator caps in series. Do not connect to
    O
  159. fig 9070
    Integrator caps in parallel
    CG
  160. fig 9070
    Differentiator caps in parallel
    NP
  161. fig 9070
    Opamp-summing junction feedback for 360deg-output pot & input signal (square or triangle)
    ad
  162. fig 9070
    Opamp-summing junction feedback for PID-controllers
    KL
  163. fig 9070
    Integrator-opamp feedback
    FG
  164. fig 9070
    Differentiator-opamp feedback
    ST
  165. fig 9060
    If non-inverting transfer functions are required, then a simple solution for all the configurations in Fig9060 is
    cascade with an inverting opamp
  166. fig 9060
    All the transfer functions in Fig9060 have negative signs because
    the single-opamp is an inverting configuration
  167. fig 9060
    Can lag and lead active-circuits be constructed using series Rs and Cs instead of parallel Rs and Cs?
    yes
  168. fig 9060
    A passive-circuit realization has
    only passive components (R and C), and no opamps
  169. fig 9060
    Gc(s) is the transfer function in Fig9060 of the active-circuit realization using one opamp in Fig9060B.
    True
  170. fig 9060
    Ia(s) is _____ in Fig9060B.
    zero
  171. fig 9060
    Z1(s) is the ______ impedance in Fig9060B.
    input
  172. fig 9060
    Z2(s) is the ______ impedance in Fig9060B.
    feedback
  173. fig 9060
    Line-8 Function is ____
    Lead compensation
  174. fig 9060
    Line-7 Function is ____
    Lag compensation
  175. fig 9060
    Line-6 Function is ____
    PID controller
  176. fig 9060
    Line-5 Function is ____
    PD controller
  177. fig 9060
    Line-4 Function is ____
    PI Controller
  178. fig 9060
    Line-3 Function is ____
    Differentiation
  179. fig 9060
    Line-2 Function is ____
    Integration
  180. fig 9060
    Line-1 Function is ____
    Gain
Author
lacythecoolest
ID
326743
Card Set
ENT 461 preclass quizset III
Description
final set
Updated