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Objectives
In this chapter we extend the ideas of modeling to include control system
characteristics, such as sensitivity to model uncertainties, steady-state errors,
transient response characteristics to input test signals, and disturbance
rejection. We investigate the important role of the system error signal which we
generally try to minimize.
We will also develop the concept of the sensitivity of a system to a parameter
change, since it is desirable to minimize the effects of unwanted parameter
variation. We then describe the transient performance of a feedback system
and show how this performance can be readily improved. We will also
investigate a design that reduces the impact of disturbance signals.
Illustrations
Illustrations
E( s )
1
G( s )
R( s )
1 G( s )
1
1 G( s )
R( s )
Error Signal
1 G( s )
H( s ) 1
Y( s )
E( s )
G( s )
1 H( s ) G( s )
R( s )
1
1 H[ ( s ) G( s ) ]
R( s )
Illustrations
1 G( s ) H( s )
1
H( s )
R( s )
GH( s ) 1
G( s ) G( s )
Y( s )
Open Loop
G( s ) R( s )
Closed Loop
Y( s ) Y( s )
Y( s )
G( s ) G( s )
R( s )
1
G( s )
G( s ) H( s )
G( s )
R( s )
GH( s ) GH( s )
Y( s )
G( s )
( 1 GH( s ) )
Illustrations
R( s )
T (s )
d
T ( s)
T ( s)
G
G
S H
Illustrations
(1
GH
GH
( 1 GH
d
d
d
S G
G
T
1
H [(s )G (s )]
d
S G
G ( s)
T (s )
G ( s)
G
T
1
(1
GH
G
G
( 1 GH
Example 4.1
Open loop
vo
T
SKa
Ka v in
ka
T
Closed loop
T
1
R2
Rp
R1
Ka
1 Ka
R1 R2
SKa
1
1 Ka
Ka 10
Illustrations
0.1
SKa
1 10
9.99 10
( s )
G( s )
Va( s )
K1
1 s 1
where,
K1
Illustrations
Km
Ra b Kb Km
Ra J
Ra b Kb Km
Illustrations
( s )
K a G( s )
K a K 1
R( s )
1 K a K t G( s )
1 s 1 K a K t K 1
K a
s
K1
1
1 K a K t K 1
1
Illustrations
R(s)
Illustrations
Illustrations
Km
G1( s )
Ka
E( s )
( s )
G2( s )
Ra
1
( J s b )
G( s )
1 G1( s ) G2( s ) H( s )
H( s )
Kt
Kb
Ka
Td ( s )
G1G2H( s ) 1
E( s )
1
G1( s ) H( s )
G1( s ) H( s )
Td( s )
Ka Km
Kt
Ra
Ka
Kb
approximately
Ka Km Kt
Ra
since Ka >> Kb
Steady-State Error
Eo ( s )
Ec( s )
R( s ) Y( s )
1
1 G( s )
( 1 G( s ) ) R( s )
R( s )
H( s )
e( t )
t 0
lim
s 0
s E( s )
ec( infinite)
Illustrations
lim
s 0
lim
s 0
s ( 1 G( s ) )
1
s
1 G( s ) s
lim
s 0
lim
s
( 1 G( 0) )
0 1 G( 0)
Illustrations
Y( s )
Y( s )
T( s ) R( s ) Td ( s ) D( s )
K 11 s
2
s 12 s K
Illustrations
R( s )
1
2
s 12 s K
D( s )
lim
e( t )
t infinite
lim s
s 0
K 11 s
s s
lim
t infinite
Illustrations
y ( t)
lim s
s 0
Td
12 s K
1
s
1
K
Illustrations