Академический Документы
Профессиональный Документы
Культура Документы
1
From lecture 01
Control Systems (Example)
Consider an elevator. When the fourth-floor button is pressed,
the elevator rises to the fourth floor with a speed and floor-
leveling accuracy designed for passenger comfort.
Two measures of
performance are :
(1) the transient
response
(2) the steady-state
error.
2
From lecture 01
3
Transfer functions represent linear, time-invariant systems
5
Standard test inputs used in Control Systems
6
Laplace transform
table for the standard
test inputs
7
Poles of a Transfer Function
8
Poles and Zeros of a First-Order System:
C (s) s 2
G( s)
R( s) s 5
1
R( s)
s
1 s 2 A B
C ( s)
s s 5 s s 5 1
Step Response
A
s 2 2 ; B
s 2
3 0.9
s 5 s0 5 s s 5
5
0.8
2 3 Amplitude
C (s) 5
5 0.7
s s5 0.6
2 3 5t
c(t ) e
0.5
5 5 0.4
0 0.2 0.4 0.6 0.8 1 1.2
Time (seconds)
9
C (s) s 2
G (s)
R( s) s 5
1
R( s)
s
1 s 2
C (s)
s s 5
A B
s s5
A
s 2 2
s 5 s 0 5
B
s 2
3
s s 5
5
10
VC ( s) 1 1
RC
V ( s) RCs 1 s 1 RC
L
V ( s ) LsI ( s ) RI ( s ) VR ( s ) 1 R
L
R s 1 s RL
R L
L V (s)
V ( s ) s 1 VR ( s )
R
x(t)
X (s) 1 1
f(t) B
F ( s) B s K s K B
B
b0
G (s)
s a0 11
Step Response
b0 2
G (s)
s a0 1.8
1.6
b0
a0
1.4
1
a0 s 1 1.2
Amplitude
k
1
s 1 0.8
G1=?
0.6
figure(1)
k=2; 0.4 G2=?
tc=[0.1 0.5 1];
for n=1:3
0.2
G3=?
0
num=[0 k]; 0 1 2 3 4 5 6
den=[tc(n) 1]; Time (seconds)
0.1
sys=tf(num,den); 1
step(sys); 0.5
hold on
end
grid 12
b0 Step Response
G (s) 2
s a0 1.8
b0 G1=?
1.6
a0
1
a0 s 1 1.4 G2=?
1.2
k G3=?
Amplitude
s 1
1
0.8
figure(2)
tc=1; 0.6
Pole =1/=-a0
X
S = -a0
1
Vc ( s ) Cs 1
V (s) R 1 RCs 1
Cs
= RC (sec); K=1 14
If the input is a unit step,
R(s) = 1/s
Laplace transform of the step response is C(s)
a A B
C (s) R( s)G( s)
s s a s s a
1 1
a
A 1
s 0
C ( s)
s a
s sa B
a
1
s s a
c(t ) c f (t ) cn (t ) 1 e at
15
Impulse Response
1
at
c(t ) c f (t ) cn (t ) 1 e 0.9
0.8
a=5;
num =[0 1];
0.7 den=[1 a];
Amplitude
0.5 impulse(G)
to describe the transient response 0.4 grid
0.3
gain. 0.1
When t → 1/a
0
0 0.2 0.4 0.6 0.8 1 1.2
Time (seconds)
Step Response
e at e1 0.37
1
0.9
t 1/ a 0.8
0.7
0.6 a=5;
Amplitude
0.5 num =[0 a];
at
c(t ) t 1/ a 1 e den=[1 a];
0.4
0.3 G=tf(num,den);
0.2 step(G)
1 0.37 0.63 0.1 grid
0
0 0.2 0.4 0.6 0.8 1 1.2
Time (seconds)
16
Transient Response Specifications
Time Constant, Tc
Rise Time, Tr
Settling Time, Ts
17
t e-t/
0 1
0.3679
2 0.1353
3 0.0498
4 0.0183
5 0.0067
c(t ) 1 e at
dc(t ) at
ae a
dt t 0 18
C(s) b 1
G (s) a
Time Constant, Tc R (s) s a
The time constant can be
described as the time for
e-at to decay to 37% of its
initial value
OR
The time it takes for the
step response to rise to
63% of its final value
Rise Time, Tr
The time for the response to
go from 0.1 to 0.9 of its
final value
Settling Time, Ts
The time for the response to reach, and stay within, 2%
of its final value 19
Transient Response Specifications
• Time constant,
– The time for e-at to decay 37% of its initial value.
1
• Rise time, tr a
– The time for the response to go from 0.1 to 0.9 of its final value.
at
c(t ) .1 Calculate for 2 .2
c(t ) 1 e tr
c(t ) .9 difference in time
a
• Settling time, ts
– The time for the response to reach, 4
Let c(t) = .98 and ts
and stay within 2% of its final value. solve for time t a
20
First-Order Transfer Functions via Testing
b0
G (s)
s a0
0.14
a0 1 7.14
b0 / a0 0.72
b0 7.14 0.72 5.14
21
Second-Order Systems
22
Example: RLC Circuit with DC input
1
V ( s ) Ls R I (s)
Cs
Vs I (s)
1
2 RL 1
s
V ( s ) Ls R 1 s L s LC
Cs
I (s) s
2 RL 1
V ( s ) s L s LC R R 1
2
s1
Characteristic polynomial
2L 2 L LC
2
R R 1
s s
2 R
L
1
LC 0 s2
2L
2 L LC
Characteristic equations 23
Mechanical Example of IInd order
B K
X ( s) 1
F ( s) MS 2 BS K Mass (M)
1
X ( s) M
x(t)
F ( s) S 2 B S K f(t)
M M
B K
S2 S 0 characteristic equation
M M
2
B B K
s1,2
2M 2M M
24
Case 1: Roots are Real and Distinct
s1,2 3, 3
s1,2 1 j 8
s1,2 j 3
Undamped response:
Poles: two imaginary poles at s1, s2
Natural response: sustained oscillations at 3 rad/sec
28
• The step responses for the four cases of damping
• The critically damped response is the division between the overdamped
and underdamped cases and is the fastest response without overshoot
29
30