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Topics:
• Root-locus plots
Objectives:
• To be able to predict and control system stability.
11.1 INTRODUCTION
The system can also be checked for general stability when controller parameters
are varied using root-locus plots.
R = – A, – B
jw x(t)
x0
-A -B
sigma
R = ± Aj
jw x(t)
A
sigma
-A
t
R = – A ± Bj
jw x(t)
B
-A
sigma
-B t
Figure 11.3 Negative real and complex roots cause decaying oscillation
root locus - 11.3
R = – A ± Bj
jw x(t)
B
-A
sigma
-B t
Figure 11.4 More negative real and complex roots cause a faster decaying oscillation
R = – A, – A
jw x(t)
-A,-A
sigma
R = A, A
jw x(t)
A,A
sigma
Figure 11.6 Positive real roots cause exponential growth and are unstable
root locus - 11.4
R = A ± Bj
jw x(t)
B
A sigma
-B t
Figure 11.7 Complex roots with positive real parts have growing oscillations and are
unstable
Next, recall that the denominator of a transfer function is the homogeneous equa-
tion. By analyzing the function in the denominator of a transfer function the general sys-
tem response can be found. An example of root-locus analysis for a mass-spring-damper
system is given in Figure 11.8. In this example the transfer function is found and the roots
of the equation are written with the quadratic equation. At this point there are three
unspecified values that can be manipulated to change the roots. The mass and damper val-
ues are fixed, and the spring value will be varied. The range of values for the spring coef-
ficient should be determined by practical and design limitations. For example, the spring
coefficient should not be zero or negative.
root locus - 11.5
x ( D )- 1
------------ = -----------------------------------------
-
F(D) 2
MD + K d D + K s
Note: We want Ks Kd
the form below
A
--------------------------------------
- M
(D + B)(D + C)
1-
----
x ( D ) M
------------- = -------------------------------------
F(D) 2 Kd Ks Aside:
D + ------ D + -----
M M 2
ax + bx + c = ( x + A ) ( x + B )
2
–Kd K K
--------- ± ------d- – 4 -----s – b ± b – 4ac
2
M M
2 M A, B = --------------------------------------
B, C = ------------------------------------------
- 2a
2
M Kd Ks B C
0 0 0 0 0
100 100 100
100 100 1000
100 100 10000
The roots of the equation can then be plotted to provide a root locus diagram.
These will show how the values of the roots change as the design parameter is varied. If
any of these roots pass into the right hand plane we will know that the system is unstable.
In addition complex roots will indicate oscillation.
root locus - 11.6
Imaginary
Real
Figure 11.9 Drill problem: Plot the calculated roots on the axes above
+ 1-
K ---
D
-
K H(D ) = 1
G ( D ) = ----
D
First, we must develop a transfer function for the entire control system.
---
K-
G( D) D K
G S ( D ) = ------------------------------------- = --------------------------- = --------------
1 + G ( D )H ( D ) D+K
1 + ---- ( 1 )
K
D
Next, we use the characteristic equation of the denominator to find the roots as
the value of K varies. These can then be plotted on a complex plane. Note:
the value of gain ’K’ is normally found from 0 to +infinity.
D+K = 0 K root
jω
0 -0
1 -1 K→∞ K = 0 σ
2 -2
3 -3
etc...
Note: This system will always be stable because all of the roots for all values of K are
negative real, and it will always have a damped response. Also, larger values of K,
make the system more stable.
Aside: Scilab can be used to draw root locus plots for systems of the form below, where
there is a simple gain, K, multiplying the openloop gain, G(s).
+ 1-
K ---
D
-
1 H(D ) = 1
G ( D ) = ----
D
First, we must multiply G and H
G ( s )H ( s ) = ---- ( 1 ) = ----
1 1
D D
The numerator and denominator of this equation are then defined and plotted
using the ’evans’ function.
D = poly(0, ’D’); // define the differential operator
n = real(1.0); // define the numerator of GH
d = real(D); // define the denominator of GH
evans(n, d, 100); // plot for gains from K=0 to 100
1 + -----------------------------
- ( 1 ) = 0
K Note: For a negative feedback
2 controller the denominator is,
D + 3D + 2
2 1 + G ( D )H ( D )
D + 3D + 2 + K = 0
– 3 ± 9 – 4(2 + K) 1 – 4K
roots = ------------------------------------------------ = – 1.5 ± --------------------
2 2
Next, find values for the roots and plot the values,
K roots
jω
0
1
2
3
K(D + 5 )
G ( D )H ( D ) = ---------------------------------------
2
D ( D + 4D + 8 )
11.3 SUMMARY
1. Draw the root locus diagram for the system below. specify all points and values.
+ + 1
3.0 ---------------------
2
(D + 1)
- -
KdD
2. The block diagram below is for a motor position control system. The system has a proportional
controller with a variable gain K.
θd Vd + Ve Vs ω θa
2 K 100 - 1-
------------ ---
D+2 D
-
Va
a) Draw the root locus diagram and state what values of K are acceptable.
b) Select a gain value for K that has either a damping factor of 0.707 or a natural
frequency of 3 rad/sec.
c) Given a gain of K=10 find the steady-state response to an input step of 1 rad.
d) Given a gain of K=0.01 find the response of the system to an input step of
0.1rad.
root locus - 11.12
4. A feedback control system is shown below. The system incorporates a PID controller. The
closed loop transfer function is given.
X + Y
Ki 3 -
K p + ----- + K d D ------------
D D+9
-
4 2
D ( 3K d ) + D ( 3K p ) + ( 3K i )
--Y- = ----------------------------------------------------------------------------------------------
-
X 2
D ( 12K d + 1 ) + D ( 9 + 12K p ) + ( 12K i )
5. Draw a root locus plot for the control system below and determine acceptable values of K,
including critical points.
X 0.1 Y
K 5 + ---- + D
+ 1 + --------------------------------------
-
2
D D + 10D + 100
- -
10
------
D
0.01
6. The feedback loop below is for controlling a DC motor with a PID controller.
Vd + e 2 Vs 100 -
------------------ ω 1-
--- θ
D + PD + 1 D + 100 D
------------------------------
D
-
Va
2
root locus - 11.13
1.
+ + 1 -
3.0 --------------------
2
(D + 1)
- -
KdD
+ 3.0
-------------------------------------
-
2
( D + 1 ) + Kd D
-
3.0
---------------------------------------------------
-
2
D + D ( K d + 2 ) + 4.0
2
2 – K d – 2 ± ( K d + 2 ) – 4 ( 4.0 )
D + D ( K d + 2 ) + 4.0 = 0 D = ---------------------------------------------------------------------------
2
2
Kd roots – K d – 2 ± K d + 4K d – 12
D = -----------------------------------------------------------------
2
0 -1 +/- 1.732j
1 -1.5 +/- 1.323j Critical points: (this is simple for a quadratic)
2 -2.000, -2.000
The roots becomes positive when
5 -0.628, -6.372
2
10 -0.343, -11.657 0 > – K d – 2 ± K d + 4K d – 12
100 -0.039, -102.0 2
1000 -0.004, -1000 2 + K d > ± K d + 4K d – 12
16 > 0
0 > – Kd – 2 Kd > –2
– 4 ± 16 – 4 ( – 12 ) K d = – 6, 2
K d = -----------------------------------------------
2
2.
a) 200K
---------------------------------------
-
2
D + 2D + 200K
b) – 2 ± 4 – 4 ( 200K )
roots = ------------------------------------------------ = – 1 ± 1 – 200K
2
Im
K roots
0 0,-2 K=0.005
0.001 -0.1,-1.9
0.005 -1,-1 Re
0.1 etc. -2 -1
1
5
10
c) 2
D + 2D + 200K = D + 2ζω n D + ω n
2 2 ∴ω n = 1 ∴K = 0.005
3.
a) 2
D + D + 20K = 0
– 1 ± 1 – 4 ( 20K ) For complex roots
D = --------------------------------------------- 1
2 1 – 80K < 0 K > ------
80
K roots For negative real roots (stable)
1 ± 1 – 80K-
–------------------------------------
0 0.000, -1.000 <0
2
1/80 -0.500, -0.500
1 -0.5 +/- 4.444j ± 1 – 80K < 1 K>0
10 -0.5 +/- 14.13j
1000 -0.5 +/- 141.4j
b)
Matching the second order forms,
2
2ω n ξ = 1 ω n = 20K
θo 20 ( 10 )
c) ----- = ----------------------------------------
-
θd 2
D + D + 20 ( 10 )
·· ·
θ o + θd + θ d 200 = 200θd
Homogeneous:
2
A + A + 200 = 0
Particular:
θ = A
0 + 0 + A200 = 200 ( 1rad ) A = 1rad
θ o ( t ) = 1rad
– 0.5t
θo ( t ) = ( e sin ( 14.1t – 1.54 ) + 1 ) ( rad )
root locus - 11.18
θo 20 ( 0.01 )
d) ----- = --------------------------------------------
-
θd 2
D + D + 20 ( 0.01 )
·· ·
θ o + θd + θ d 0.2 = 0.2θd
Homogeneous:
2
A + A + 0.2 = 0
Particular:
θ = A
0 + 0 + A0.2 = 0.2 ( 1rad ) A = 1rad
θ o ( t ) = 1rad
C 1 = – 0.381C 2
4.
(ans. X + Kp D + K i + Kd D
2 Y
3 -
------------------------------------------- ------------
D D+9
-
X + 2 Y
3K p D + 3K i + 3K d D
-----------------------------------------------------
- D(D + 9)
X 2 Y
3K p D + 3K i + 3K d D
-------------------------------------------------------------------------------------------
2
D ( D + 9 ) + 12K p D + 12K i + 12K d D
X 2 Y
3K p D + 3K i + 3K d D
----------------------------------------------------------------------------------------------
-
2
D ( 12K d + 1 ) + D ( 9 + 12K p ) + ( 12K i )
root locus - 11.20
b) 2
D ( 12K d + 1 ) + D ( 9 + 12K p ) + ( 12K i ) = 0
2
– 9 – 12K p ± ( 9 + 12K p ) – 4 ( 12K d + 1 )12K i
D = ------------------------------------------------------------------------------------------------------------------
-
2 ( 12K d + 1 )
Kd roots
Stable for, 2
– 9 – 12K p ± ( 9 + 12K p ) – 4 ( 12K d + 1 )12K i < 0
2
± ( 9 + 12K p ) – 4 ( 12K d + 1 )12K i < 9 + 12K p
2 2
( 9 + 12K p ) – 4 ( 12K d + 1 )12K i < ( 9 + 12K p )
c) Kp = 1 Ki = 1 Kd = 1
2
3K p D + 3K i + 3K d D
--Y- = ----------------------------------------------------------------------------------------------
-
X 2
D ( 12K d + 1 ) + D ( 9 + 12K p ) + ( 12K i )
3- --------------------------------------------------
2 2
--Y- = -----------------------------------------
3D + 3D + 3 -
= -----
D +D+1 -
13 2
D + D1.615 + 0.923
X 2
D 13 + D21 + 12
-12dB
root locus - 11.22
2
3K p D + 3K i + 3K d D
--Y- = ----------------------------------------------------------------------------------------------
-
X 2
D ( 12K d + 1 ) + D ( 9 + 12K p ) + ( 12K i )
12K i
ωn = ---------------------
- = 2 12K i = 48K d + 4
12K d + 1
9 + 12K p
2ξω n = ---------------------- = 20.5 ( 2 ) 24K d = 7 + 12K p
12K d + 1
At this point there are two equations and two unknowns, one value
must be selected to continue, therefore,
K p = 10
0 = C11 + C2 C1 = –C2
9
– t ------
9- 13
Y' ( t ) = – C e
-----
13 1
9 C1 = 0
0 = – ------ C 1
13 1
C2 = 0 no response
root locus - 11.24
5.
X 0.1 Y
K 5 + ---- + D
+ 1 + --------------------------------------
-
D 2
D + 10D + 100
- -
10
------
D
0.01
X 2 0.1 Y
K ------------------------------
+ 5D + 1 + D ----------------------------------------------------------------
-
D + 10D + 100 + 0.1 ------
D 2 10
D
-
0.01
2
X + K ( 0.5D + 0.1 + 0.1D -) Y
-------------------------------------------------------
3 2
D + 10D + 100D + 1
-
0.01
6.
2
θ D ( 100 ) + D ( 100P ) + ( 100 ) -
a) ------ = ----------------------------------------------------------------------------------
Vd 3 2
D + D ( 300 ) + D ( 200P ) + ( 200 )
b)
c)
1. The systems below have a variable spring coefficient. For each of the systems below,
root locus - 11.26
M = 1 kg
M = 1kg
y
F y
F
Ks
b) If the input force is a step function of magnitude 1N, calculate the time response
for ‘y’ by solving a differential equation for a Ks value of 10N/m.
c) Draw the poles for the transfer function on a real-complex plane.
d) Draw a Bode plot for Ks = 1N/m.
2. Draw a root locus diagram for the feedback system below given the variable parameter ‘P’.
Vd + e Vs 100 - ω 1-
--- θ
P ------------------
D + 100 D
- Va
2
3. For the transfer functions below, draw the root locus plots assuming there is unity feedback,
i.e., H(D) = 1. Draw an approximate time response for each for a step input.
1 - 1 - 1 - 1
G(s) = ------------ ---------------
2
--------------------
2
------------------------------
2
D+1 D +1 (D + 1) D + 2D + 2
root locus - 11.27
C + 1 R
K ---------------------
2
(D + 1)
-
2
------
2
D
C + 1 - R
K --------------------
2
(D + 1)
-
2
2D
C + 2 R
K (D + 1)
-
2
------
2
D