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Time Response
Analysis
Test signals
Sinusoidal.
(frequency response)
Test signals
Impulse
Step
Ramp
Laplace Transforms
Impulse (t)
step u-1 (t)
Ramp t u-1 (t)
1
1/s
1/s2
Order of
Order of
system is ???
system is order
of the differential
equation
Examples of zeroth
C(s) / R(s) = K
a constant
(algebraic equation)
order systems :
Potentiometer
dc amplifier
dc tachogenerator
Open loop
1000 / ( 100 + 200 s )
= 10 / ( 1 + 2 s )
C(s) / R(s) = K / (s + a)
open loop
vt (s) = (vr (s) )(10 / ( 1+2 s ))
= (25 / s )( 10 / (1 + 2 s)
Vt (
) = 250 V
Closed loop
1000 / ( 200 + 200 s )
= 5/(1+s)
250
200
150
100
closed loop
vt(s) = ( 25 / s)( 5 / ( 1+s ))
Vt (
) = 125 V.
x1
x2
50
0.5
1.5
2.5
3.5
4.5
In general
K ( 1- e - t / )
Ramp response
of first order
systems
Ramp Response
r (t)
= t u-1 (t)
R (s) = 1 / s2
C(s)
K
=
R(s)
1 + st
Let K = 1
G (s) =
R( s ) =
c(s) =
1
1 + s
1
s
1
s 2 (1 + s )
= 2
s
s 1+ s
1
9
8
7
c(t) = t - (1 e
-t/
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
Second order
systems
n
C(s)
= 2
R ( s ) s + 2 n s + n 2
2
R (s )
1
s
Second order
example
- position control.
r +
Kp
=1.0
KA
KT
Ra
L
1
s(Js+B)
sKb
Taking
KP = 0.1 V / rad
KA = 10 V / V
KT = Kb = 0.5 Nm/A
or
V/rad/sec.
L (s)
1
= 2
r (s) s + s + 1
J = 1 Kg m2
B = 0.5 Nm / rad / sec
n = 1 rad / sec.
= 0. 5
s2 + s + 1 =
(s + 0.5) + (
2
- 0.5
-j
s1,2 = n
s2 + 2 n s + n 2
= (s + n ) + n 1
In general
j n 1
= - n j d
d = n 1 - 2
roots of s are
complex conjugate
For = 1
For > 1
damped frequency
damping factor
n undamped
natural frequency
roots are
repeating at
s = - n
10
= 0 : undamped
0<<1:
under damped
=0
c( s ) =
2
2
s ( s + n )
2
n
11
1
s
= 2 2
s s + n
= 0
c ( t ) = 1 - cos nt
(pure oscillation)
0 < < 1:
C(s) =
n2
s (s2 + 2 ns + n2)
C(s) =
1 s + 2 n
s s2 + 2 ns +n2
12
s + n
1
=
- 2
s s + 2 ns +n2
n
s2 + 2 ns +n2
s +a
1
u -1 ( t )
s
s
cos at
2
2
s +a
s+b
a
2
we know
sin at
( s + b )2 + a 2
a
( s + b )2 + a 2
e -bt cos at
e -bt sin at
13
s + n
=
2
2
s + 2 n s + n
( s + n )
2
2
( s + n ) + d
n
=
2
2
s + 2 s + n
n
n
d
.
d ( s + n ) 2 + d 2
nt
cos d t
n - n t
.e
sin d t
d
14
.e
1
1-
- n t
1-
sin d t
sin ( dt + )
where cos = .
1-
c (t) =
1-
- n t
sin ( d t + )
15
1+
C(t)
e- nt
1- 2
1.0
1-
e-nt
1-2
Time(t)
2nd
d is the imaginary
part of roots
j n 1 - 2 = d
where (- n) is the
real part of roots
-n
Cos =
n 1- 2
16
C(t)
Mp
Tolerance band
1.0
tr
tp
Time
dc
=0
dt
sin (
dt + ). cos
- cos (
dt + ).Sin = 0
sin (
dt) = 0
dt =
17
Time at peak
overshoot ( tp )
c(t p ) = 1
tp = /d
= 1+ e
At t = tp ,
e
n .t p
1 2
sin ( + )
n . n 1 2
M p = e
1 2
=e
1 2
100%.
18
As damping factor
increases
As damping factor
increases
peak overshoot ??
Mp
0 100
0.1 73
0.2 53
0.3 37
0.4 25
0.5 16
0.6
0.7
0.8
0.9
1.0
Mp
9.5
4.6
1.5
0.02
0
100
90
80
70
60
50
40
30
20
10
0
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
19
ln (0.05) = n t s
or
ts =
0.05 =
t
n
s
e
t s for 2% tolerance is
4
20
Rise time
(tr)
c (t r ) = 1 = 1 -
- n t r
or
sin (
dtr + ) = 0
dtr + =
sin ( d t r + )
or
tr =
d
Steady state
error for step
input = 0
21
1
s2
1-
n2
(s2 + 2 ns + n2)
=
1
s + 2 n s
. 2
2
2
s s + 2 n s + n
2
e(t)
= Lt sE(s)
t
s 0
n
22
= 1 unit
S+1
S+2
>>
num/den =
>> z = roots(ng)
z =
-1
23
>> p = roots(dg)
p =
-2
>>
>>[nt,dt] =
cloop(ng,dg,-1)
>>zc = roots(nt)
zc =
-1
>>pzmap(ng,dg)
>>title(pole-zero map)
>>pc = roots(dt)
pc = -1.5
>>
24
>>ng = [1];
dg = [1 1 1];
>>p = roots(dg)
p=
-0.5 + j 0.866
-0.5 - j 0.866
>>t = [0:0.5:10];
>>[y,x,t] = step(ng,dg,t);
>>plot(t,y), grid
>>xlabel(Time[sec])
>>ylabel(output)
25
An example :
R +
K
G=
s ( s + 1)
K
C R = 2
s +s+K
nn =
1
s(s+1)
1
=
2 K
26
Let K = 100
n = 10 rad / sec
= 0.05
Mp =
e
1 2
100%
= 85 %
27
Then 2 n = 1
1
n =
=1
2 0.5
acceptable. So we go for
changing the configuration
of the amplifier - derivative
error compensation.
Error coefficients
We know
C (s) = R (s) . G (s) / ( 1+G (s) )
R(s) +
E(s)
G(s)
C(s)
and
E (s) G (s) = C (s)
28
step input
Let
R (s) = 1 /s
(constant position)
1
1
ess = Lt s .
s 0 s 1 + G ( s )
Then
Lt G ( s ) = K p
s 0
1
ess =
1+ K p
29
Ramp input
R (s) = 1/s2
(Constant velocity)
Steady state error
in position
parabolic input
R (s) = 1/s3
(constant acceleration)
1
= Lt s 2 .
s 0 s
1 + G (s)
1
1
Lt
Kv
s 0 sG ( s )
K v = velocity error coefficient
1
= Lt s. 3
s 0
s 1 + G (s)
1
= Lt 2
1
Ka
s 0 s G ( s )
Ka = acceleration error
coefficient
30
Type 0 system
( s + z1 )( s + z 2 )(....)
G(s) = n
s ( s + p1 )( s + p2 )(....)
K p = Lt G ( s ) = finite value
ess =
Type 0 system
s 0
1
= finite value
1+ K p
Type 0 system
K v = Lt sG (s) = 0
K a = Lt s G (s ) = 0
e ss =
e ss =
s 0
s 0
31
Type 1 system
K p = L t G (s) =
s 0
e ss = 0
Type 1 system
K a = Lt s 2 G (s ) = 0
s 0
e ss =
Type 1 system
K v = L t s G (s)
s 0
= finite
e ss = 1 K v = finite
Type 2 system
K p = L t G (s) =
s 0
e ss = 0
32
Type 2 system
Type 2 system
K v = L t s G (s) =
K a = Lt s 2 G (s) = finite
e ss = 0
e ss = 1 K a = finite
s 0
t2
u (t)
2 1
input
Type
u-1(t)
1
1 + Kp
1
Kv
1
Ka
tu-1(t)
s 0
K p = Lt G ( s ) H ( s )
s 0
K v = Lt s G ( s ) H ( s )
s 0
K a = Lt s 2 G ( s ) H ( s )
s 0
33
Derivative error
Compensation
R +
1
s(s+1)
r +
C
L
+
-
Kp
KT/Ra
KA
1
s(Js+B)
sKb
with
K = 100
n = 10 rad/sec
= 0.05
Mp = 85% (not acceptable)
t s (2%) = 4 n = 8 sec.
ess
= 0.01
34
K + sK D
G(s) =
s( s + 1)
K + s KD
G( s)
= 2
G( s) + 1 s + s + K + s K D
n = K ( no change)
= 10 rad/sec
2 n = 1 + KD
for = 0.5,
KD = 9
ess
4
t s ( 2%) =
= 0.8 sec.
n
35
R +
1
s(s+1)
sKt
G ( s) =
K
s( s + 1 + K t )
G ( s ) (1 + G ( s)) =
K
s 2 + s (1 + K t ) + K
Specifications
= 0.5
ess for ramp input
= 0.01
K v = Lt sG( s)
s 0
K
=
= 100 - - - - - (1)
1+ Kt
36
K = 100
2 n =1 + Kt
or
or K = 10000
K t = 99.
K = 1 + K t (2)
Integral Control
KA + I
1
s ( s + 1)
37
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
38