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1
Controllers
2
Controllers_______________________
3
________________________________________________Controllers
Proportional control
4
________________________________________________Controllers
Proportional control:
Output K p .e
where : K p is a con st ant is called proportion al gain
e is error signal
The control system with proportional control being of the form:
R(s) E(s)
+ Kp G(s)
- C(s)
5
____________________________________________ Proportional control
6
____________________________________________ Proportional control
10
𝐺(𝑠) =
(𝑠 + 1)(𝑠 + 10)
R(s) E(s)
+ Kp G(s)
- C(s)
7
________________________________________________Controllers
Integral control
8
________________________________________________Controllers
Integral control:
t
Output K I . e.dt
0
Output(s) K I
Gc ( s)
e(s) s
9
_____________________________________________Integral control:
R(s) E(s)
+ KI /s G(s)
- C(s)
KI
GO ( s) .Gs
s
10
_____________________________________________Integral control:
KI
GO ( s) .Gs
s
An advantage of integral control is that the introduction of an s
term in the denominator increases the type number of the
system by 1. Thus if the has been type 0 the steady state error
that would have occurred with the step input disappears when
integral control is present.
11
_____________________________________________Integral control:
1
G s
s ( s 1)
R(s) E(s)
+ KI /s G(s)
- C(s)
12
________________________________________________Controllers
13
________________________________________________Controllers
Proportional plus Integral control:
t
Output K p .e K I . e.dt
0
K I K p [s K I / K p ]
Gc ( s) K p
s s
K p [ s 1 / I ]
G c (s)
s
where I Kp / KI is called the in tegral time con st ant
14
__________________________________ Proportional plus Integral control
R(s)
E(s) C(s)
+ Kp + G(s)
+
-
KI /s
KI
GO ( s) .Gs
s
15
__________________________________ Proportional plus Integral control
K p [s 1 / I ]
Gc ( s)
s
Thus, a zero of 1 / I and a pole at 0 have been added to the
system by using PI control.
The 1/s factor increases the system type number by 1 and thus
removes the possibility of the steady state error for a step input.
The asymptotes angles for the root loci are unchanged.
16
__________________________________ Proportional plus Integral control
R(s)
E(s) C(s)
+ Kp + G(s)
+
-
KI /s
17
________________________________________________Controllers
Derivative control
18
________________________________________________Controllers
Derivative control:
de
Output K D .
dt
where : K D is a con st ant is called Derivative gain
e is error signal
Output(s)
G c ( s) K D .s
e(s)
19
_____________________________________________Derivative control:
R(s) E(s)
+ KD .s G(s)
- C(s)
GO (s) K D .s.Gs
20
_____________________________________________Derivative control:
GO (s) K D .s.Gs
21
________________________________________________Controllers
22
________________________________________________Controllers
Proportional plus Derivative control:
de
Output K p .e K D .
dt
Taking the Laplace transform, we have:
Gc (s) Kp KD .s KD [1 / D s]
Gc (s) KD [1 / D s]
23
__________________________________ Proportional plus Derivative
control
24
__________________________________ Proportional plus Derivative
control
Example 4, page 233
1
G s
s ( s 1)
R(s)
E(s) C(s)
+ Kp + G(s)
+
-
KDs
25
________________________________________________Controllers
PID control
26
________________________________________________Controllers
PID control:
KI/s
R(s) E(s) + C(s)
+ Kp + G(s)
+
-
KDs
27
________________________________________________ PID control
t
de
Output K p .e K I e.dt K D .
0
dt
K D .s K p [1 K I / K p .s K D .s / K p ]
KI
Gc ( s) K p
s
28
________________________________________________ PID control
K p I .s 1 I Ds2
G0 ( s) G p (s)
I .s
29
________________________________________________ PID control
1
G s
s ( s 1)
KI/s
R(s) E(s) + C(s)
+ Kp + G(s)
+
-
KDs
30
________________________________________________Controllers
31
________________________________________________Controllers
Adjustment of controller gains
32
________________________________ Adjustment of controller gains
33
________________________________ Process reaction curve method
0 time
0 L T time
Process reaction curve
The maximum gradient R is M/T
L is the time between when the test signal started and when the
tangent intersects the graph time axis
34
________________________________ Process reaction curve method
Control mode Kp KI KD
35
________________________________ Process reaction curve method
G s
10
s 2 10s 5
36
________________________________ Adjustment of controller gains
c(t)
Tc
0
t
37
________________________________ Process reaction curve method
Control mode Kp KI KD
38
________________________________ Process reaction curve method
Determine the settings of KP, KI, KD, when the proportional band
is decreased to 30%, the oscillations have a periodic time of
500s.
39
________________________________ Process reaction curve method
Example:
Determine the settings of KP, KI, KD, to reduce the amount of
maximum overshoot to approximately 25% or less.
KDs
R(s) E(s) + C(s)
+ Kp + G(s)
+
-
KDs
G s
10
s( s 1)( s 5)
40
________________________________ Process reaction curve method
Example:
T h e t r a n s fe r fu n c t io n P I D c o n t r o lle r is t h u s :
0,71
Gc (s) 18 0,35.s
s
Closed-loop transfer function is:
0 .3 5s 2 1 8 s 0 .7 1
TF s 4
s 6 s 3 5 .3 5s 2 1 8 s 0 .7 1
41
Example 9, page 243
Open-loop transfer function
K
G0 (s)
ss 1
Lead compensator
s2
GC ( s)
s8
42
Example 9, page 243
Uncompensated
K
G0 (s)
ss 1
43
Example 9, page 243
Compensated
Ks 2
G0 (s)
ss 1s 8
The intercept of the asymptotes with the real axis has been moved -
0,5 to -3,5, so there is an improvement in the relative stability
44
Compensation design
45
__________________________ Compensation design
46
Compensation______________________
R(s)
+ Gc(s) G(s)
C(s)
-
47
Cascade lead ___________________________
48
Giaûn ñoà Bode bieân ñoä vaø pha cuûa khaâu boå chính sôùm pha.
dB G C (s) =
K s+z( ) = K (aTs +1)
20lgα ( s + p) C
(Ts +1)
10lgα
m
m
50
Cascade lead ___________________________
G C (s)G(s) = K C
(aTs +1) G(s) = (aTs +1) G (s)
(Ts +1) (Ts +1) 1
51
Cascade lead ___________________________
4. Determine :
a -1
sin f m =
a +1
53
Cascade lead ___________________________
Example 1: p.624
R(s)
+ Gc(s) G(s)
- C(s)
4
G s
s s 2
Design a compensator for the system so that the static velocity
error constant Kv = 20 (1/s), phase margin is at least 500, gain
margin is at least 10dB
54
GC (s) 41.
s 4,4
s 18
55
56
57
58
Example 2: p.660
R(s)
+ Gc(s) G(s)
- C(s)
10
G s
s s 1
Design a compensator for the system so that the static velocity
error constant Kv = 20 (1/s), phase margin is at least 500, gain
margin is at least 10dB G (s) 9,5.
s 2,9
C
s 14,2
59
10
G s
Example 2: p.660
s s 1
K = K Ca = 2
PM = 140
j m = 410
a = 0,2077 Þ 1/ a = 6.7778dB
( )
G1 jw = -6.7778 Þ w = 6,5rad / s
1/ T = wC a = 2,9
1/ aT = 14.2 GC (s) 9,5.
s 2,9
K C = K / a = 9,5
s 14,2
60
Example 2: p.660
20
G 1 s
s s 1
61
Example 2: p.660
GC (s) 9,5.
s 2,9
s 14,2
62
Example 2: p.660
GC (s) 9,5.
s 2,9 10
.
s 14,2 ss 1
63
Example 2: p.660
GC (s) 9,5.
s 2,9 10
.
s 14,2 ss 1
64
Lag compensator
65
Cascade lag ____________________________
K s z
GC ( s) where p z
s p
66
Cascade lag ____________________________
Giaûn ñoà Bode bieân ñoä vaø pha cuûa khaâu boå chính treã pha.
GdB K s z Ts 1
GC ( s ) KC ( 1)
s p Ts 1
1/T 1/aT
10 log a
-1 20 log a
m
m
1
Ñoä dòch pha lôùn nhaát m xaûy ra taïi taàn soá: m
T
1
Vaø m ñöôïc xaùc ñònh: Sinm
1
67
Cascade lag ____________________________
The procedure for designing a lag compensator by frequency
response approach may be stated as follows:
1. Assume the following lag compensator:
G C (s) =
(
KC s + z ) = K (aTs +1) (0 < a < 1)
( s + p) C
(Ts +1)
The open-loop is:
G C (s)G(s) = K C
(aTs +1) G(s) = (aTs +1) G (s)
(Ts +1) (Ts +1) 1
G1 (s) = K CG(s)
Determine gain Kc to satisfy the requirement on
the given static velocity error constant
68
Cascade lag ____________________________
69
Cascade lag ____________________________
70
Cascade lag ____________________________
R(s)
+ Gc(s) G(s)
- C(s)
1
w here : G s
s s 1 0 ,5 s 1
Design a lag compensator for the system so that the static
velocity error constant Kv = 5 (1/s), phase margin is at least 400,
gain margin is at least 10dB
71
Assume the following lag compensator:
G C (s) = K C
(aTs +1) where : 0 < a <1
( Ts +1)
1
G1 (s) = K C
Therefore: ( )(
s s +1 0,5s +1 )
5
G 1 s
s s 1 0 ,5 s 1
72
PM 13 0
m 40 0 ( 13 0 ) 53 0
73
The phase angle of the uncompensated open-loop
transfer function is -127 at w C = 0,445 ( rad / s) . So we choose
0
74
The open-loop transfer function of the compensated
system is:
5(10s +1)
() ()
GC s G s =
1
( ) ( )( )
87s +1 s s +1 0,5s +1
75
Bode plot:
5(10 s 1)
GC s G s
s 100 s 1s 10,5s 1
76
Compare
Uncompensated Compensated
77
Compare
78
Solution 1
R(s)
+ Gc(s) G(s)
- C(s)
Gs
1
s1 0,5s1 0,2s
79
Lead compensator
1 0,4657s
Gc (s) 10
1 0,0617s
80
Solution 2
R(s)
+ Gc(s) G(s)
- C(s)
Gs
80
1 0,05s1 0,02s
Design a lead compensator and lag compensator for the
system so that, phase margin is at least 200 and gain margin is
at least 10dB
81
82
Solution 2
1 0,04s 1 0,143s
Gc (s) Gc s
1 0,005s 1 s
83
Control systems design by the Root Locus method
84
In fact, in some cases, the system may not be stable for all
the values of gain. Then it is necessary to reshape the root
loci to meet the performance specifications.
85
Effect of the additional of Zeros: The addition of a zero
to the open-loop transfer function has the effect of pulling
the root-locus to the left, tending to make the system more
stable and to speed up the settling of the response.
86
Lead Compensation
87
Lead compensation techniques based on the
root locus approach
R(s)
+ Gc(s) G(s)
- C(s)
4
ts
POT % e 1 2
100% n
88
Lead compensation techniques based on the
root locus approach
R(s)
+ Gc(s) G(s)
- C(s)
89
Lead compensation techniques based on the
root locus approach
R(s)
+ Gc(s) G(s)
- C(s)
GC ( s ) K C
Ts 1
(a >1)
Ts 1
90
Lead compensation techniques based on the
root locus approach
OPA
sin
OC OP
1 2 2
T OPA
sin
2 2
OPA
sin
OP
1 2 2
OD
T OPA
sin
2 2
91
Lead compensation techniques based on the
root locus approach
92
Example 7-1, p.424
R(s)
+ Gc(s) G(s)
- C(s)
4
G( s)
ss 2
C ( s) 4
2
R( s ) s 2s 4
Damping ratio : 0,5
Natural frequency : n 2
Velocity error cons tan t Kv 2
93
Example 7-1, p.424
94
Example 7-1, p.424
95
Example 7-1, p.424
180 [ 60 90 ] 150 30
0 0 0 0 0
96
Example 7-1, p.424
where : 30 0
OPC ODP
OPA
sin
OC OP
1 2 2
5,4
T OPA pole 5,4
sin
2 2
OPA zero 2,9
sin
OP
1 2 2
OD 2,9
T OPA
sin
2 2
97
Example 7-1, p.424
K C s 2,9 K C s 2,9 4
GC ( s) M ( s)
s 5,4 s 5,4 ss 2
Determine the open-loop gain of the compensated
system from the magnitude condition.
K C s 2,9 4
1
s 5,4 ss 2 2 j 2 3
K C 4,68
GC ( s) 4.68
s 2,9
s 5,4
98
Example 7-1, p.424
R esult :
99
100
Lag Compensation
101
Lag compensation techniques based on the
root locus approach
102
Lag compensation techniques based on the
root locus approach
6. Adjust gain Kc
103
Example 7-2, p.432
R(s)
+ Gc(s) G(s)
- C(s)
1.06
G( s)
ss 1s 2
C ( s) 1.06
R( s) ss 1s 2 1.06
Damping ratio : 0,491
Natural frequency : n 0.673
Velocity error cons tan t Kv 0.53
104
Example 7-2, p.432
1 1
Si nce << 0.3307, we choose : = 0.05
aT aT
1
Þa = 0.005
aT
s 0.05
Thus, Gc s K c
s 0.005
105
Example 7-2, p.432
1 1
Si nce << 0.3307, we choose : = 0.05
aT aT
1
Þa = 0.005
aT
s 0.05
Thus, Gc s K c
s 0.005
106
Example 7-2, p.432
s 0.05
Thus, Gc s
s 0.005
107
108
109
110
SISO Tool
111
SISO Design__________________________________________
112
SISO Design__________________________________________
113
SISO Design__________________________________________
114
SISO Design__________________________________________
115
SISO Design__________________________________________
116
SISO Design__________________________________________
117
SISO Design__________________________________________
118
SISO Design__________________________________________
119
Example 1: Lead compensation
R(s)
+ Gc(s) G(s)
- C(s)
20
G( s)
ss 1s 2
120
Example 1: Lead compensation
20
G( s)
ss 1s 2
121
Import transfer function to system
Unstable
122
Plot Step response
Check
123
SISO Design__________________________________________
124
SISO Design__________________________________________
POT < 20%, Ts < 8s.
125
SISO Design__________________________________________
POT < 20%, Ts < 8s.
126
SISO Design__________________________________________
POT < 20%, Ts < 8s.
127
SISO Design__________________________________________
128
SISO Design__________________________________________
129
SISO Design__________________________________________
130
SISO Design__________________________________________
131
Example 2: Lag compensation
R(s)
+ Gc(s) G(s)
- C(s)
20
G( s)
ss 1s 2
132
SISO Design__________________________________________
133
SISO Design__________________________________________
134
SISO Design__________________________________________
135
136
SISO Design__________________________________________
137
SISO Design__________________________________________
138
SISO Design__________________________________________
139
Velocity feedback
140
Velocity feedback ______________________________
d 0
Output K v where Kv is cons tan t
dt
Transfer function : H s Kv s
141
Velocity feedback ______________________________
R(s) + C(s)
GC(s) + Gp (s)
-
-
KVs
Velocity feedback
Position feedback
Gc s G p s
Open loop Transfer function is : G0 s
1 G p s K v s
Gc s G p s
Closed loop Transfer function is : Gs
1 G p s K v s Gc s G p s
142
Velocity feedback ______________________________
R(s) + C(s)
GC(s) + Gp (s)
-
-
KVs
Velocity feedback
Position feedback
143
Velocity feedback ______________________________
Kp
Open loop Transfer function is : G0 s
s(s a K v )
144
________________________________________________
1
G p ( s)
ss 1
a. n 2, K p ?
b. ?
c. ' 2 K v ?
145
________________________________________________
Compare:
146
________________________________________________
147
State Space Representation
148
State Space Representation
149
149
State Space Models
LTI systems
150
State transition matrix
x Ax x(t0 0) x(0)
x(t ) (t ) x(0)
(t ) : is state transition matrix
If t0 is not zero
x(t ) (t t0 ) x(t0 )
151
Determination of state transition matrix
Method I x Ax x(t0 ) x0
sX ( s ) X 0 AX ( s ) X ( s ) ( sI A) 1 X 0
x (t ) L ( sI A)
1 1
X 0 x (t ) (t ) x0
(t ) L1 (sI A) 1
152
152
Determination of state transition matrix
Method II
x Ax x(t0 ) x0
x(t ) e x0
At
x(t ) (t ) x0
(t ) e At
1 22 1
e I At
At
At A3t 3 ...
1.2 1.2.3
153
Determination of state transition matrix
Method III
154
Example 1: State transition matrix and x(t)
2 1 2
x(0)
x x
0 3 1
x(t ) L1 (sI A) 1 x0
1 1
( s 2)( s 3)
1 s 2
1
1 s 2 1
(t ) L ( sI A)
1 1
L L
0 s 3
0 1
s 3
e 2t e 2t e 3t x1 (t ) e
2 t
e 2t e 3t 2 3e 2t e 3t
(t ) 3t x (t ) 3t 3t
0 e 2 0 e 1 e
155
Property of state transition matrix for LTI systems
1- Φ(0) = I
2- Φ-1(t)= Φ(-t)
3- Φ(t2-t1)Φ(t1-t0) = Φ(t2-t0)
4- Φk(t) = Φ(kt)
156
State transition matrix for time varying systems
0 0 x1 (t ) 0
x x
t 0 x2 (t ) tx1 (t )
x1 (0) 1 1
x(0) x(t ) 2
0.5t
x2 (0) 0
x1 (0) 0 0
x(0) x(t )
x2 (0) 1 1
1 0
(t ) 2
0.5t 1 157
157
State transition equation
x Ax Bu x(t0 ) x0
sX ( s ) X 0 AX ( s ) BU ( s )
X ( s ) ( sI A) 1 X 0 ( sI A) 1 BU ( s )
t
x(t ) (t ) x0 (t )Bu ( )d Convolution
integral
0
158
Example 2 Find state transition equation for unit step
2 1 0 x1 (0)
x x u x(0)
0 3 1
x2 (0)
x(t ) L1 (sI A) 1 x0
1 1
1
( s 2)( s 3)
1 s 2
1 s 2 1
(t ) L ( sI A)
1 1
L L
s 3 0 1
0
s 3
159
Example 2 Find state transition equation for unit step
2 ( t )
e 2t e 2t e 3t x1 (0) t e e 3(t ) .....
x(t ) 3t 3( t ) d
0 e x2 (0) 0
e .....
160
160
Example 3 Find x1(s) and x2(s)
2 1 0 x1 (0)
x x u x(0)
0 3 1 2
x ( 0)
1 1 1 1 1 1
x ( 0) x ( 0) u ( s )
x1 ( s) s 2 ( s 2)( s 3) x1 (0) ( s 2)( s 3) s2 ( s 2)( s 3) ( s 2)( s 3)
1 2
x ( s) u ( s )
2 0 1 2
x ( 0) 1 1 1
x ( 0) u ( s )
s 3 s3 s3
2
s3
161
Example 4: Derive x1(s) by using state diagram.
2 1 0
x x u
0 3 1
x2 (0) x1 (0)
s -1 s -1
1 x 2 s -1 x2 1 x1 s -1 x1
u(s)
-3 x2 -2 x1
1 1 1
x1 ( s) x1 (0) x2 (0) u (s)
s2 ( s 2)(s 3) ( s 2)(s 3)
162
162
Relation between SS model and TF
model.
adj ( sI A)
G( s) C BD
sI A
Poles of G(s) ? Eigenvalues of A (modes) ?
Poles of G(s) Eigenvalues of A
163
Example 5: Find the poles of transfer function
and the eigenvalues of A
0 1 0 0
x 0 0 1 x 0u
6 11 6 1
y [1 1 0]x
s 1 0
SI A 0 s 1 s 3 6s 2 11s 6 ( s 1)( s 2)( s 3)
6 11 s 6
s 1 s 1 1
1
g ( s) d c( sI A) b 3
s 6s 11s 6
2
( s 1)( s 2)(s 3) ( s 2)(s 3)
[num,den]=ss2tf(A,b,c,0 g=tf(num,de
164
, g=minreal(g) 164
), n) 164
Example5: Continue
0 1 0 0
x 0 0 1 x 0u
1
6 11 6 1 G( s)
( s 2)(s 3)
y [1 1 0]x
1 3 p1 3
2 2
p2 2
3 1
x Ax bu A is 3 3 b is 3 1
Let
y cx du c is 1 3 d is 11
1
w1 x1 x3 1 0 1 1 0 1
w2 x1 2 x2 w 1 2 0 x Px x P 1w 1 2 0 w
w3 x2 x3 0 1 1 0 1 1
x Ax bu 1
P 1w AP w bu w P A P 1w Pbu
y cx du
y cP 1w du y cP 1w du
w Aˆ w bˆu  b̂ ĉ d̂
y cˆw dˆu 166 166
166
Example 6: A similarity transformation
example
3 6 4 6
Eigenvalues of
1 2
x 1 2 2 x 3u A
2 4
1 6 6 4
3 1
y [2 2 1]x
2 -1 2 2 0 0 4.9 cˆ cP 1 [ 0.4 0.6 0]
P 1 1 1 - 1 Aˆ PAP 1 0 1 0 bˆ Pb 0
- 1 - 1 2 0 0 4 3 dˆ d 0
Eigenvector corresponding to
-2
2 0 0 4.9
1 2
w 0 1 0 w 0 u Eigenvalues of Â
2 4
0 0 4 3
3 1
y [ 0.4 0.6 0]w
167 167
New system is very simpler than older 167
Similarity transformation and eigenvalues
Eigenvalues of
x Ax bu A
sI A 0
y cx du
sI Aˆ sI A Similarity transformation
does not affect the 168 168
eigenvalues of the system 168
Exercise
1- Find the state diagram of the following system
2 1 3 0
x 0 3 2 x 1 u
2- Find the transfer function of the following system. 1 4 1 0
a) By use of the formula between the two
representation.
b) By use of state diagram 2 1 3 0
x 0 3 2 x 1 u
1 4 1 0
y [1 2 0]x
3- Find y(t) for initial condition [1 3 -1]T and the unit step
2 1 3 0
as input. x 0 3 2 x 1 u
1 1694 1 0
y [1 2 0]x 169
Exercise (cont.)
5- Suppose x1(0)=1, x2(0)=3 and x3(0)=2 and r(t)=u(t) . Find x(t) and c(t) for t≥0
1 4 0 1
X (t ) 2 2 1 X (t ) 1 r (t ) c(t ) [1 0 0] X (t )
0 0 3 0 170
170
171
Electromechanical systems
(p.81)
172
Electromechanical
systems__________________________
DC motor:
v : v e lo c it y o f t h e c o n d u c t o r n o r m a l t o t h e m a g n e t ic fie ld
174
Electromechanical
systems__________________________
dm ( t)
Its voltage is proportional to speed: v b t K b
dt
v b ( t ) : back electrom otiv e force back em f
Kb : back em f cons tan t
d m t / dt : angular v elocity of the m otor
V b s K b .s . m ( s )
So, we have:
R a I a s L a s I a s V b s E a ( s )
175
Electromechanical
systems__________________________
The torque developed by motor is proportional to the
armature current:
T m s K t .I a s
w h ere : T m : to rq u e d ev elo p ed b y m o to r
K t : m o to r to rq u e co n s tan t
I a s T m ( s ) / K t
R a L a s T m s K .s . m s E a ( s )
b
Kt
176
Electromechanical
W e must find T s in term of s , and
systems__________________________
m m
T m : eq u iv a len t in ertia l a t th e a rm a tu re
D m : eq u iv a len t v isco u s d a m p in g a t th e a rm a tu re
T m s ( J m .s 2 D m .s ) m ( s )
Therefore, the transfer function of the motor is:
R a L a s ( J m .s 2 D m .s ) m ( s ) K .s . m s E a ( s )
b
Kt 177
Electromechanical
systems__________________________
B e c a u s e o f L a R a , th u s :
R a ( J m .s D m )
K b .s. m s E a ( s )
Kt
m s K t /( R a J m )
E a (s) 1 K t K b
s s D m
Jm R a
m s K
E a ( s ) s( s ) 178
Electromechanical
systems__________________________
Let discuss a DC motor driving a rotational mechanical load
Where: 2 2
N1 N1
J m J a J L D m D a D L
N2 N2 179
Electromechanical
systems__________________________
So, we have:
T m s K b . s . m s E a ( s )
Ra
Kt
Ra
T m t K b . m t e a ( t )
Kt
Tm t
K tK b
m t
Kt
ea (t)
Ra Ra 180
Electromechanical
systems__________________________
T m t m t
KtKb Kt
e a (t )
Ra Ra
w h en m t 0 , w e h a v e sta ll to rq u e T s t a l l
Kt
e a (t )
Ra
w h en T m t 0 , w e h a v e n o lo a d sp eed : n o l o a d
ea
Kb
181
Electromechanical
systems__________________________
K t Ts t al l ea
and Kb
Ra ea n o l o ad
182
Electromechanical
systems__________________________
Example 1: (p.86)
183
Electromechanical
systems__________________________
2 2
N1 N1
J m J a J L 12 D m D a D L 10
N2 N2
s t a ll t o r q u e T s t a l l 5 0 0
n o lo a d s p e e d : n o lo a d 50
ea 100
184
Electromechanical
systems__________________________
So, we have:
T m s K b . s . m s E a ( s )
Ra
Kt
Ra
T m t K b . m t e a ( t )
Kt
Tm t
K tK b
m t
Kt
ea (t)
Ra Ra 185
Electromechanical
systems__________________________
K t Tstall
5
Ra ea
ea
Kb 2
noload
m s K t /( Ra J m )
Ea ( s) 1 K t K b
s s Dm
Jm Ra
5 / 12 0.417
ss 1.667
s s 10 (5).( 2)
1
12
186
Electromechanical
systems__________________________
2 2
N1 N1
J m J a J L D m D a D L
N2 N2
187
Electromechanical
systems__________________________
188
Electromechanical
systems__________________________
Example 2: p.293
F in d th e v a lu e o f v isco u s d a m p in g D L in o rd er to m a k e
a clo sed lo o p tra n sien t resp o n se h a v in g a 2 0 % o v ersh o o t .
189
Electromechanical
systems__________________________
/ 1 2
OS % e x1 0 0 %
m s K t /( R a J m )
Ea (s) 1 KtKb
s s D m
Jm Ra
190
Electromechanical
systems__________________________
191
Bài tập nhóm báo cáo
Nhóm 1: Example 9.1 page 461
Nhóm 2: Skill-Assessment Exercise 9.1 page 468
Nhóm 3: Example 9.2 page 466
Nhóm 4: Example 9.3 page 472
Nhóm 5: Example 9.4 page 478
Nhóm 6: Skill-Assessment Exercise 9.1 page 481
Nhóm 7: Example 9.5 page 483
Nhóm 8: Example 9.2 page 466
Nhóm 9: Skill-Assessment Exercise 9.1 page 481
Nhóm 10: Example 9.5 page 483
Nhóm 11: Example 9.6 page 487
Nhóm 12: Skill-Assessment Exercise 9.3 page 493
Nhóm 13: Example 9.7 page 497
Nhóm 14: Example 9.8 page 500
Nhóm 15: Antenna Control: Lag-Lead Compensation
page 508
Nhóm 16: UFSS Vehicle: Lead and Feedback Compensation
page 511
Nhóm 17: DESIGN PROBLEMS 34 page 521 192