EC-1 Assignment 1 (22-S1)

Birla Institute of Technology & Science, Pilani
Work Integrated Learning Programmes Division

AY 2022-23 S1
EC-1: Assignment 1
Course No. : AEL/AE ZG510

Course Title : Automotive control systems
Weightage : 5%
Submission due : 14 SEP 2022 11:30 PM
Date assigned : 27 JUL 2022
No. of pages in this document :3
Instructions (Please read carefully):
1. This assignment is worth 50 points.
2. The contribution of this assignment to your EC-1 score will be scaled down to 5-points.
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Page 1 of 3
1. The block diagram of a simplified cruise control system of an automobile is shown below. The
actuator controls the throttle position, the fuel injector is modeled as a first order lag with a 1 s
time constant, and the load on the engine is also modeled as a first order lag with a 5 s time
constant.
1.1 Select the controller transfer function 𝐾 for a closed loop damping ratio of 0.707. [3]
1.2 Find the steady state error for a unit step input in speed for the selected value of 𝐾. [2]
1.3 Explain how you would modify the controller to get zero steady state error for a unit step
input in speed and an approximate closed loop damping ratio of 0.707. Explain the design
procedure (do not perform the design) using the root locus. [3]
2. The block diagram of

the speed controller of
an automobile is
shown, indicating the
controller and engine
transfer functions. The
tachometer provides
unity feedback. 𝛥𝑇𝑑 (𝑠)
is the load disturbance
due to Δ𝑑% grade, 𝐾𝑒 is
the engine gain and 𝜏𝑒 = 20 𝑠 is the time constant of the engine.
30
2.1 For 𝑅(𝑠) = km/h and 𝐾𝑒 𝐾1 ≫ 1, determine the constant percent grade 𝛥𝑑 (i.e.; 𝛥𝑇𝑑 (𝑠) =
𝑠
𝛥𝑑
) for which the vehicle stalls (velocity 𝑉(𝑠) = 0) in terms of the gain factors. Ignore
𝑠
transients. [6]
𝐾𝑔
2.2 If = 2, evaluate the percent grade 𝛥𝑑 that causes the vehicle to stall. [2]
𝐾1
Page 2 of 3
3. Consider a dynamic system represented by the following state equations:
𝑑𝑥1
= 𝑥1 2 + 𝑢(𝑡)𝑥2
𝑑𝑡
𝑑𝑥2
= 𝑒 −𝑥2 + 𝑢2 (𝑡)
𝑑𝑡
where 𝑥1 and 𝑥2 are the state variables and 𝑢(𝑡) is the input.
3.1 Determine the nominal trajectory for the nominal input 𝑢(𝑡) = 0 & 𝑥1 (0) = 1, 𝑥2 (0) = 0. [2]
3.2 Linearize the state space model around the nominal solution found in 3.1 above. [4]
3.3 Is the resulting model (in 3.2 above) time invariant? [2]
20(1+0.2𝑠)
4. Consider the open loop transfer function 𝐺(𝑠) = 𝑒 −0.15𝑠 of a unity feedback system.
𝑠(1+0.5𝑠)
4.1 Using Matlab, create the composite Bode plot (i.e.; magnitude and phase) of 𝐺(𝑠) from 0.1
to 100 rad/s, first without the time delay term, and then with the time delay. Overlay the two
plots (in different colors) and submit the output (1 page). What do you notice? [2]
4.2 Submit your plots (2 plots in all) showing the phase and gain cross over frequencies and the
associated margins for the two cases noted in 4.1 above. [2]
4.3 Take a print out of the composite Bode plot for the case with delay (you will have one page
to print) – you may snip the composite plot, paste into a word file, and then print it. Now,
overlay the asymptotic composite Bode plot (you need to hand sketch) over this plot. How
does the asymptotic plot compare with Matlab results? [6]
𝑥1
5. Using Laplace transforms, obtain the response of the system 𝒙̇ = 𝑨𝒙, where 𝒙 = [𝑥 ] and
2
0 1
𝑨=[ ], given that 𝑥1 (0) = 1, 𝑥2 (0) = −1. [8]
−3 −2
6. Consider a 4-stroke SI engine modeled as a first order system without time delay according to
𝐾𝑀
the transfer function 𝐺𝑝 (𝑠) = 𝜏 . It is given that 𝐾𝑀 = 1 and the first order lag 𝜏𝑀 = 0.5 s.
𝑀 𝑠+1
𝐾𝐼
6.1 A PI controller with the transfer function 𝐺𝑟 (𝑠) = 𝐾𝑃 + is being considered for 𝜆-control.
𝑠
Obtain its approximate design as a second order system to achieve the following closed-
loop specifications: 1% settling time = 0.46 s, and no overshoot. [4]
6.2 Why is the design obtained in 6.1 approximate? [2]
6.3 Using the Smith predictor, derive the controller transfer function 𝐺𝑐 (𝑠) (from 𝐺𝑟 (𝑠) found in
6.1) for the same engine considering a pure delay 𝑇𝐿 of 1 s. [2]
-§§§§§§§§§§§-
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Birla Institute of Technology & Science, Pilani

Work Integrated Learning Programmes Division

Course No. : AEL/AE ZG510

2. The block diagram of

6.2 Why is the design obtained in 6.1 approximate? [2]

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