Steady-State error

A01166732 Marco Gallardo, A01161455 Ulises Romero

Institute of Technology and Higher Education Monterrey, Campus Edo. Mxico, Atizapn de Zaragoza, Mexico
A01166732@itesm.mx A01161455@itesm.mx Abstract In this report we will show the procedure to follow to obtain the steady-state error of a control system of the position of the Azimuth of an Antenna. Kp= The position constant. Kv= The velocity constant Ka= The acceleration constant. Therefore, the ess for the different types of inputs can be calculated using the FVT or the static error constants.

I.

INTRODUCTION

The steady-state error, ess, is defined as the difference between the input and the output when time goes to infinity, that is, the ess is analyzed when a closed-loop control system has reached the steadystate. Its important to know that the steady-state error is only apply for stable systems. From the next system we will determine the steady state error

II.

OBTAINING THE STEADY-STATE ERROR

In the case of our control system of the position of the Azimuth of an antenna, we will obtain the steady state error.

To determine the final value of the steady-state error, ess, when the time goes to the infinity the final value theorem will be apply.

Applying the FVT to the ess equation, is obtained:

The performance parameters of ess are called static error constants and are obtained directly from the denominators of ess for each one of the different inputs.

The schematic diagram of this system will be

On this control system we have 3 different configurations, in this case we will apply the configuration 2.

For the case of an unity-ramp input we have:

For the case of an unity-parabola input we have:

The system is Type 1. After applying the parameters of the configuration, our block diagram of the system will be:

B. The value of gain K, to produce a steady-state error of 20%

To produce an error of 20% the input has to be a ramp, therefore:

Finally, to produce a steady-state error of 20% the value of gain needs to be K= 12.96

Previously we need to do a stability analysis. After showing that the system is stable, we continue with the procedure.

III.

CONCLUSIONS

A. The steady-state error in terms of gain K for step, ramp, and parabola inputs.
The steady state error is given by

The steady state-error help us to understand how the system will operate and the precision of it. Its an important value because it help us to optimize an automatic system where you need to maintain a constant output. If for some reason the output is not the value that we want, the feedback of the steady-state error will make the system correct the output.

The transfer function G(s) (open loop) taken from the block diagram is given by:

IV.

REFERENCES

[1] Nise, N. S. (2002). Sistemas de control para ingeniera.. (3rd ed.). Mxico: CECSA.

For the case of a unit step input, we have:

[2] Gallardo, M., & Romero, U. (2013). T. f. of the position of the azimuth of an antenna. In C. ITESM (Ed.),Institute of Technology and Higher Education Monterrey,Estado de Mxico: Tareas de Automatizacin Industrial y de Procesos.