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Pertemuan 4
Menentukan periode
sampling
Apakah semakin kecil periode
sampling semakin bagus??
Semakin kecil periode sampling
semakin besar kecepatan komputasi
yang dibutuhkan.
Berapakah sampling time yang pas?
Untuk sistem dg pole2 real,
maka
Review of s-plane
Locations of poles
influence the values of:
Overshoot
Settling time
k=5
1.2
1
Amplitude
Locations of poles
are adjusted by
the value of the
gain (k)
1.4
0.8
0.6
k=1
k=2
0.4
k=0.75
k=0.36
0.2
0
5
Time (s)
7 10
Original relation
Some approximations :
Euler' s forward : z e sT 1 sT
or
1
1 Ts
or
Euler' s bacward : z e sT
Tustin' s :
z e sT
T
s
2
T
1 s
2
1
z 1
T
z 1
s
Tz
s
or
2 z 1
T z 1
z e j T eT jT eT e jT
s j
If 0, it means that the poles are in imaginary axis of s - plane (marginally stable)
0 z e jT cos T j sin T 1T
Pole locations on the imaginary axis of s - plane are mapped into the unit circle of z - plane.
The angles will depend on T ( : signal frequency; T : sampling period).
z eT e jT re jT
r cos T j sin T
r cos T jr sin T
Re z jImaj z
r eT
10
2f Fs
Alias
region
Alias
region
11
12
s j d n j n 1 2
Magnitude 2 d2 n
f ( n )
Phase tan -1
1 2
sin 1
f ( )
13
Answer
0
n 0
n 0
14
j n 1 2 T
z re j
Magnitude (r ) e nT f , n
n 1 2 T f , n
16
b b 2 4ac
n j n 1 2
2a
z e sT re j
r e nT
nT 1 2
ln r nT
ln r nT
1 2
ln r
ln r 2 2
1
T
ln r 2 2
17
Example
Given a transfer function of digital closed loop control system :
y(z)
G( z)
0.368 z 0.264
2
r(z) 1 G ( z ) z z 0.632
Find the damping ratio and the undamped natural frequency! Assume T 1s
Solution :
The system characteri stic equation : z 2 z 0.632 0
z1, 2 0.5 j 0.618 r 0.795 0.890
ln r
ln r
1
T
0.25
ln r 2 2
0.92
18
Solution by graphical
method
The system characteri stic equation : z z 0.632 0
2
0.25
0.29
0.91
T
19
System Stability
Y(z)
G( z)
N ( z)
Closed loop discrete control system :
R(z) 1 GH ( z ) D ( z )
Characteri stic equation :1 GH(z) 0 or D(z) 0
System is stable if the roots of the characteristic eq. are
inside the unit circle.
Some methods to check for the stability of a discrete-time
system.
1. Finding the value of roots of the characteristic eq.
directly.
2. By doing some stability test without finding the roots.
3. Transform the problem into s-plane then use the
establised way of Routh-Hurwitz stability criterion
4. Use the graphical method.
20
21
Example 1 of method 1
22
Answer
Y(z)
G( z)
The closed - loop system transfer function :
R(z) 1 G ( z )
1 e Ts 4
2
2z
Ts 2
1 2 z
G( z) Z
Z
(
1
e
)
s s 2
z 1 z e 2T
s
s
2 z 1 e 2T
21 e 2T
1
G ( z ) 1 z
2T
z 1 z e z e 2T
1.729
G( z)
T 1s
z 0.135
1.729
The characteri stic equation :1 G(z) 0 1
0
z 0.135
z 1.594 0 z 1.594 system is not stable
23
Example 2 of method 1
For the case of example 1, find the
value of T so that the system becomes
stable!
24
Answer
Keep the sampling time on T, we have:
21 e
G( z)
2T
z e 2T
21 e 2T
The char. eq. 1
0
2T
ze
z e 2T 21 e 2T 0
x a a x a
x a x a dan x a
z 3e 2T 2
The system will be stable if :
3e 2T 2 1
3e 2T 3
e 2T 1 2T ln 1
25
Special Project
Design a DC motor control system using a
microcontroller!
The speed of DC motor must follow the set point which
is typed at the keypad.
Set point
Ke
yp
ad
Mikrokontrole
r
ADC
Amplifier
DAC
(DriverPW
M)
DC Motor
Speed
Tachometer
26
Thank you
27
28
29
and n on s - plane
Remind poles position on s-plane
s j d
30