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Test signals
Sinusoidal. (frequency response)
Laplace Transforms
1 1/s 2 1/s
Order of
system is ???
Order of
C(s) / R(s) = K / (s + a)
Open loop 1000 / ( 100 + 200 s ) = 10 / ( 1 + 2 s ) Closed loop 1000 / ( 200 + 200 s ) = 5/(1+s)
250
200
150
100
50
x1 x2
0.5
1.5
2.5
3.5
4.5
In general
K ( 1- e
- t / )
K : steady state value of the function : time constant smaller, faster response.
R (s) = 1 /
K = 1 + st K = 1
C
1 1 + s 1 s
2
G (s) = R (s) =
)= c(s
1
1 s (1+ s )
2
1 = 2 s 1+ s s
c(t) = t - (1 e
-t/
9 8 7 6 5 4 3 2 1 0
0 0. 1 1. 2 2. 3 3. 4 4. 5 5. 6 6. 7 7. 8 9 9 5 5 5 5 5 5 5 5
n C(s) = 2 2 R ( s ) s + 2 n s + n
2
R (s )
1 s
r +
Kp
KA
KT Ra
L 1 s(Js+B)
sKb
Taking
J = 1 Kg
2 m
1 L(s) = 2 r (s) s +s +1
n = 1 rad / sec. = 0. 5
2 s
+s+1 =
2 3 2
(s + 0.5) + (
- 0.5
j
-j
In general
2 s
+ 2 n s + n
2
= (s + n ) + n 1
s1,2 = n j n 1
2
= - n j d
d = n 1 d
2
For = 1
roots are repeating at
s = - n
For > 1
roots are real
= 0 : undamped
0<<1: under damped
r (t)
=0
c( s ) =
2 n 2 n
s( s + )
1 s = 2 2 s s + n
0 < < 1:
C(s) = n s
2 (s 2 2)
+ 2 ns + n
C(s) =
1 s + 2 n - 2 2 s s + 2 ns +n
s + n 1 = - 2 2 s s + 2 ns +n n 2 2 s + 2 ns +n
we know
1 u -1 ( t ) s s cos at 2 2 s +a
a s +a
2 2
sin at
e e
-bt
cos at sin at
-bt
s + n = 2 2 s + 2 n s + n ( s + n ) 2 2 ( s + n ) + d
n t
cos d t
n = 2 2 s + 2 s + n
n
n d . 2 2 d ( s + n ) + d
n - n t .e sin d t d
1
2
.e
- n t
sin d t
1
2
1-
1 1-
2
sin ( dt + )
where cos = .
c (t) = 1e
- n t 2
sin ( d t + )
C(t) 1.0
1+
e- nt
1- 2 1e-nt
Time(t)
1-2
Cos =
-
n 1-
C(t)
Mp
Tolerance band
1.0
tr tp
Time
dc = 0 dt
sin (dt) = 0 dt =
tp = /d
At t = tp ,
c(t p ) = 1 e
n .t p 2
sin ( + )
= 1+ e
n . n 1
M p = e
2 1
=e
2 1
100%.
0 0.1 0.2 0.3 0.4 0.5
Mp 100 73 53 37 25 16
1 0 0 9 0 8 0 7 0 6 0 5 0 4 0 3 0 2 0 1 0 0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
% Mp
0.05 =
t n s e
l n ( 0 .05 ) = n t s or ts = 3
t s for 2% tolerance is 4
Rise time
(tr)
e
- n t r 2
c (t r ) = 1 = 1 -
sin ( d t r + )
or
tr = d
1-
2 n 2 (s
+ 2 ns +
2 n )
= 1 s + 2 n s . 2 2 2 s s + 2 n s + n
2
e(t)
= Lt sE(s) t s 0
2 =
Some more MATLAB commands . >> ng = [1 1]; dg =[1 2]; >> printsys (ng,dg)
num/den =
S + 1 S + 2 >>
>> z = roots(ng) z = -1
>>pzmap(ng,dg)
>>title(pole-zero map)
>>xlabel(Time[sec]) >>ylabel(output)
An example : R + K
1 s(s+1)
K G= s(s + 1) K C R = 2 s +s+K
nn = =
2
K 1 K
Mp = e
2 1
100% = 85 %
While the steady state error is acceptable Mp is not. - Damping to be increased to say, 0.5
Then 2 n = 1 1 n = =1 2 0.5
Error coefficients
R(s) + E(s) G(s) C(s)
We know
C (s) = R (s) . G (s) / ( 1+G (s) )
step input
1 1 ess = Lt s . s0 s 1+ G(s)
Let
s 0
Then
1 ess = 1+ K p
Ramp input
2 1/s
1 = Lt s 2 . s 0 s 1 + G (s) 1 1 Lt Kv s 0 sG ( s )
K v = velocity error coefficient
= Lt s.
s0
1 s
2 3
1 1 + G (s) 1 Ka
= Lt
1 s G (s)
s0
Type 0 system
K p = Lt G ( s ) = finite value
s0
1 e ss = = finite value 1+ K p
Type 0 system
K v = Lt sG(s) = 0
s0
e ss =
Type 0 system
Ka = Lt s G(s) = 0
2 s0
ess =
Type 1 system
K p = L t G (s) =
s0
ess = 0
Type 1 system
K v = L t s G (s)
s 0
Type 1 system
K a = Lt s G(s) = 0
2 s0
e ss =
Type 2 system
K p = L t G (s) =
s0
e ss= 0
Type 2 system
K v = L t s G (s) =
s0
e ss = 0
Type 2 system
Ka = Lt s G (s) = finite
2 s0
ess = 1 Ka = finite
input Type
u-1(t)
1 1 + Kp
tu-1(t)
t u1(t) 2
0 1 2
1 Kv
1 Ka
0 0
K p = Lt G ( s ) H ( s )
s0
K v = Lt s G ( s ) H ( s )
s0
K a = Lt s G ( s ) H ( s )
2 s0
1 s(s+1)
r +
L + -
Kp
KA
KT/Ra
1 s(Js+B)
sKb
t s (2%) = 4 n = 8 sec.
ess
= 0.01
K + sK D G ( s) = s ( s + 1)
K + s KD G(s) = 2 G(s) +1 s + s + K + s KD
ess
4 ts (2% )= = 08 . sec. n
R +
1 s(s+1)
sKt
Specifications
K v = Lt sG( s)
s 0
K = = 100 - - - - - (1) 1 + Kt
2 n = 1 + Kt or K = 1 + K t (2)
K = 100 or K = 10000 K t = 99 .
Comparing both methods derivative output transducer required gain reduced due to feedback
Integral Control
+
KI KA + s
1 s ( s + 1)
G( s) =
K As + K I s ( s + 1)
2
type 2 ess for step input = 0 ess for ramp input = 0 ess for parabolic input is finite
However system becomes of 3 rd order - stability problem will be discussed in later chapters