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EC3351 Control System Unit 2

control system

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140 views40 pages

EC3351 Control System Unit 2

control system

Uploaded by

Selvin Js
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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| Uners “Tre Response Awarysis “Transient 2 6h shake “Tesponse — Measures Performan te 4 firs order 4 second order system “effec 4 addtbronal pole & additional zero + st Stat enor constant A Suystem ~ Type muntber Pprp idmtwllen- Analytica} design q PL, PD, PID controller. ~» ——— x . Tnboduchion ; Tne rreaponse 6% abo called time domain analysis, ie) owkput as, c.-funckion 4 hime - ; ~totah fime “ves pore coe 4 a contol . ome ¢ CUMic. * my consis sbranstont resp Supske 4 reapore) Cet ane) 6 state resporne C5 Ct>: | eT . | CCHE= GCE) + Csg Ct . Trent |__, "res porse_ “etal dime Tesponse - | iLites hat tk parameters can be vusted. “preter both th tracert and Shay tl | behavowt * “ay remains for a V short Hime - vt (E> >t Rem clopencls on Fels onl + Mok on ie | Before yne test aby am tn bests without response” Tn Case, & no poackt Jarorabory 0) ue qm Ci) Unik 6 cil) Romp | say Set ape. “Tramient Response \ ope remains a3 bime't’ r ap preaches infinity (leratime) Ces Ct > t |= dep ends on both 4 Pe wa ae ae gh ad Se - ant iy ni bane use we need not precood as j ‘tb Lecnsiont Teaponne Aral Pe sth red test signals generated in se. (sudden Shock) | (sudden change ) | (Ctombant Velowty ) tiv? parable (cormtant seslanadion) Zs _| writ cou ED CED = ULE) \ 4 a step b “hy je Risd = Ss | \ | L eel i | Oe tb 79| toe ae i r i | Res ts 0, t FES \” | “fest seetion [rnp «unit i dinpulse Sig . . . | Risr= 4 | «cs? =_7 Uy cise te — © an i wVveue bt = [ears 3 se @) | s State vu & ess = Lin fece] = lin [wets _ cee] . | tor oo © bow | - fev] | ding STecso] + lim s [Ris -¢cs JO | 80 so, | \ss - Substitut ROS) accs> Value cn® . | . - Lin 4 Ss 5 8 0 s b S41 [Rs 0] Reso = Ye aubstitick oo Main eq C8 &) (Fas) 1 >A B S (tes) seas | l= ACit¢1s) + BS put'G=o ra] ' IFS tyr t- x S xes4 Ya) TO Jeck>= re | Steady Stal, Svvor :~ Ess = Lire s [Res>- ecs_| > 0 S(H4s) = him s[z ~ 1 | So ge (ie) | ess boy | ‘Tripub : une Roum p signal | Reo= Mex wabetitiule tn main ean | 2. (tsp e 1 ft | ; 2 li+a4s 6 tess AL ~Bo4 L.. Ss ge 14S TEAS Asters 4c st | : Pak sz | 1s AS(4tS49 4 B(it459 +c [Paro] | - [Puts = rec (~y)* pa C= 4 V= AU 4a 4B IFO 4 P= A4B) Fd +c 1=(At)) (14-004 4. Ve AED eM t40 yAd = A CIAL) (cso = ty az s s? Mets - a Ces) = Aydt “ ACStI,) Toke t-L+T £ CH= -tHi gate Le Jeo 21 7 [Oto Se [0B = ct 9 | . | Steady Stake ewer = bi 8 Tres -ces9 “ss S%0 [Res 4 . Lip sla - Zea | oo & SOAS EAS esr SU . Pi os l= AS48409 4 B(l4a59 4 cs VE AUHOFB(IFO4 ¢ (TAB) UF +e 1=(AH) 4004 02 Me NED FAG (cs) = ~ tL 44 es 12 s 8? I4ts ¢ | Cs) 4 dy a® “ 3 ACSt+h 4) | Toke LT rut, r Cu = -t4y teh © Differentiation 4 skep “ > tmpuhe sh fone oth) -th . | saben 4 Rlep “gral > Foun snd th cars | tre fm) > t4te ye. Name tnitind condiktons are cers Z | Coo= O+ ttc: | . + : cur there) « terete 7 Ramps , x x Measures 8 Performance 4 Second order | tye: |The Standard foam 4 closed Loop transfer. jeeem 4) Second wel stem > given by, ces? Oe | —_ 2 RUS) 84 BEWpSt OH C | tahoe Dp Nekwrad undaraped freay (rad /sec ) > ing wakto = Ad =e darn 1" (eal ten sl dant cnowuk) } | Depend on Domptn ratio '¢', Sister can be | least in b> foun Cosea oy un cute 2 &=0 | Gi) Under damnped system : Ox & frequen 9 dane . om aie eee [Tene Domain Teaporse 4 cco} den Syn fo wil apalee cgal | | | eccord order iw oO . \ | Transfer fir RS) 8 2g:a98 + OD | pet impel sla. Stes) = Wn s 742,08 4p | Ls maineayy [Quett ardampe Sen (& =0) Aub te main eon , + | Coss Wo ey On ; | 2 Qe nN 2 | | S4 Dn SAE ia Tnvevse LT, | we = Oh Sd Wnt | (eset: : cabrcally damped slr (G24) Sub i maincy, | ces9 = OF = Ort | 574 QS + OA (84, | | Taking +-LT | ) — pont Choe WAtE” we (cs = 2 —_—_—_ SFIS SHOT Rookk $1,552 ~GWn +Wy gut Si= ~ Wy + On VET So fee On EI o tcs> = AY BO _ Oe oS) S-S2 2 WN= Als-S2) + BLS~s,> Sub} S= S, 2 ene A (S,-S2) A. a 8\-S2 coebititul $25, Valu > .- oo Ghote +605 +O, [62 ees, S742EOnS4+Un | caae(tit) » Ovencamped syster CE 74) sab to main ean, a | Bs we . | S-S, - : en ony as bike A | | Bz —.O, ae ccs>= ofr vez, (n/p ge ; | S-s, S~ So ) | ecsy = On fl Oe) S-S) S-Sp Take | | Cth) = Cte) = tnverre Laplace Transform [ew : hp st Se NET [<"-e ) Substtule s, 2 Sa, [fe een Ebert eal | Wn ae On ve / [«** (fervent fon | | "gdp: — e "Taina, vem] + C I. tee 2 ° 2 sche ) \ | | op 4 Caselfv): trdercamped system (0< @<4) | Root: §,S2 => ~GwWnt Ip [lee 8, =~ Gn + 1p fee Sp =~ GWy LO (e- Cees De toe . SABES + wF (6 -s,) (S-S2) | I | we. A 4 BL €-5.0ts-5) 8-8 SS Wr = ACS-Ss> +8 (S-S)) WG=s) Wr = ACS-S3) Az We Oe — |, S\- So 21 DAVE Jatvege** N B= —Dn C= Dofailcee hfe iinge S-S) S-So ' 1 - wo $s 8-5 | Ccsd = Hn _ [ 5-5, zs.) \ | Qj Vee Take TeL>T to 2 On (-** - oat ) ag (-gwonstonler Jt [-§dnctchitrer dt \ | beau = (er ) _d aig eth ag [ fene _ ore | aie | Cte = wh oft stoner (ete® dures a eee a SM solar | Vege [thea stale over Gain 6 [een-cosy] | gs + Lim sfr- Be i g 20 S42EWoST Oy 2h Coy eg = Lin s(t Sao Teme Response 4 second ovdex System tov | unt step 3 gral. : Tr 4% second 7] ccs) Oy? orden aystem Res se RES) gs Aggds+iy unit alep signal Risr= Vis Oo ctsy= 1 / —2°—_—— S ( SHREDS vas ) ase undarped ) pro we A, Bt cosd= So) eA y BS s S4we Ss On 2 ASD) 4 (@8t00587 Or = Ada STA=t) Expand the oyun, Or = AZ 4+a02 +89 +08 Fouaking 8? ferums = o= AE .')B=-1 Equcting stem =>[o =<] . Cts2- 14/23 ) - Fn —~ _s S Toyo? 2 LL S SOF Toeeng drvewe LT, (cose tf codthicaly rel _hplien (G4) etso: Res> 0p | 8 4 BEWyS+tO2 | ecs> WF SAaans4 02 \« &/ [ eee) Apply poxtial frockion : Lf ar - A, 6 ¢ C¢s>= Oe =" + | 3{ fan) st Stn (6 tn)” | , Lye Wn = ACSW + BS (SHh) 4 C8. Wr = AOR Jara Put ED Fapand the eayuation 2 = AS 4 Awe +e ASWn + BS2BS,4 66, Feuating 3’ teu C= Ate os. [pend Feycciing 3. term. = aAWyt BO, +e. : : ly © = 8D, -Dnte Toke tnvewe baplaa —fransfesm. a me ete Ease Wh) Pvendamped austen (€,>1) Ccs>= _ Wa : S(S74+25,0h8+%, ) Tet $),52 = — Ga) 4 VERE 2 “ees = Wn S (S-S\) Cs-S2) “Taking pextiol fpacion | oe 8 << 30 Cs) = wn . Ay 33, + és S(S-SDCS-S2) Od = A Cs-S)D 05483) 4+ BS (5-529 +e8(8-5) . ‘las Oe pukG=d Substituke $) 32 Values te Mon Ors ACSICS2 - 2 Wy h* Epenaon FS) (4.0,-dT) A> we : C etbXa-b> | E202 — On By ae) A= Wr - “ tor -@ah ao, A ea] (tab Ss), tn partial prackion equation « u® = @S,(81-S2) Be On Si®\~S2 > subtihi 5, 82 Voluos in Oeye - og. Oo ee (hOn On ) (eght Oui + gn Ve) | B we O° ees are) “Petes sustilute S=S2 ih pectia) fraction eayn « WF = ¢S2 CH-s1) | z Ee $2(S2-S1) subsbhike s,,s2 Values in Beam Do” Oo ~SOn- Oo VE [-8Dq Ke 1 | _ _ subsite A,B, ¢ PNET res eg) 6): — +1 &) s QE (- Tabing inverse baplace spernsform ee 2 (GE) VT Gt) case tty) + uanderdamped system <4) Ccs d= Da S(S*-AgOnsS+O¥ ) Ae ply Peat) fraction , \ Hs Rae ay [Ara | BEE) (s3). F(a) (ss, | \ C(s>= Oe - Ay sete S(S4egans+OQ?) s 4 QE U,S-+ LO | ty = A (94 AGtOnS4WA I+. BS+005) 423 Se | (4 Escpand the posckra) frackion en. Wn = AS + ANB Ons 4 AO? 4 BSP405. Fauating 2 keums . Oo Ade ~ Jazz} | “making steams . “0: BAGOn + P= HO, He koa substi bb 86055 ] A1 Br Values . (>= 3+ CS4+eagiony * : . Sy ke Ons reo, # | Cts = OSS SH RE En SR EUOnS4 UO, | Aad & aublrack Pwr th denominator 4 second term | ces= (Gree oe PA 25,W py S + Wy HEP OR —GPOE ; =~ SHEE E+ On)24 Wa (ia WA (I~ & s) Dat Da = Onvt-g2 , [oe = Wo (i- | St 2GOr os CCS = s- [ seanrnag | (34 ton +004 ye ghee (SHE Ont EO cn 8 (“Ey Gun F4 “) - S+&WOn On (Od) (StE@nteag (AD Cs ren OF Taking Invewe Loppleace rrancform - | Ch ss 6 phon t cos td E ~&On e 5 ene Sin cade + a Ss cts nk = I-e ceswddt + GUWy orn wddt [ “OL end ‘| . ‘vubsteluke [Oy = wire CU >. 1 GGont [coslonr@e Eo e= tan ‘Ue fot sus ee ctt> tn «tandand foro” Ce 1 eee AOE (ferent *290)-+ (suyterine J] Virgz Fn en ty Cyt ee Vege 7 EP) | usher. o- teas! Jig «ROCF B Ain Kune fLOIASin : . cet) - “y GOnE . - —— 4&n [re a +0) ~~ KX Seay oe emon 4 end eden cn an ck &s = Lin 8] Re - ces] i Je - Seaagaende | = Lm tr 6] - of x » —_ SUMMARY emanilalir SECOND ORDER SysTEM wT “Impulse cwpot eps TN Damping TYR cece) andomped &=0)| ccer= Wp #nent | a. [estealy ented Cth. DF EE ewHE 7 - | | | a 3 Werdamped Gr ject es ee [any is oe nderdamped | Sent | (&<&<1)° (* aa - sinlOalFBe [ eo _ BeEcoND ORDER S¥sTEM WHTH Uni STEP INPUT pq ISno Damping TYPE ctt) | te jardamped (&=0) CE = 1. CoSDnt Q. cotbicay damp (&4=0 Cetr=1~ SHE go, geht - a SE 2: overdamped Ce 1D |ece>= '*2Bicee.) © + Sat wb OM (G4 GF) Ae! undeidarnped Ctey = 1- eft Sen at +8) (0<& <1) Veg | | TH Both tre ingute , shea eae emer Res ° | Transient _Resporte_Ghecit calf om mo | . | The dtramfent resporme ‘ aagitem J bo cuntt step input depends on Initial ‘conditions +. to oe a ne 4 VYaruous 6. em, be | fo stasuk © with ‘ erdasc) art ey Ha Conditions where, tq ule ime ty —> Rie hire tp > Peak bine . Me > Mastnum fea overshoot ts —> Settling ttme- : The Lime domain “pecittcabions a8 depined os follows , | ) Delouy Bone * (4) : | tht the. hime Routed by the | nesporne 40 Yeach half of As era) value at the [ Fins atlernpt- ; @ (ti) Rise Lime “Chr: Tk & the hime weyuived for tesponse to rae fom to, bo doh fox over oo Cid Sm and o% +0 loot tov pundor danysed 4 te final Vode - the 57 to 9574 4 th ee fia) Value for oy fe veel for cakially damped Biystem a qenoral unit Step respon 4. secord osdon fay | under dounped Te given by, CCL = | ook cnfduts0) “re gw +68 Rise bine = ky} J@Ctr=1 Clty = fe & Wnty = guwity to) = Vee Silty +0) = 47% The beim Sin(udty+od= 0 > Shozo - | when 20,1) 27. Wdtyt+e =7 ty > 18 - W-6 4 Ho Virge : whee Wd. ap = es fon) unit bo degree: Dee OT ani, 5 -vadion daz. | wi) > penx hath - feok bine t obbathed by diffeuntratig | ck) with wexpeck bet ard mony be cows AL Work | the elope % cero - tp- 9 | -0 =e TF oaclen datfenentiata tr | e ets " Ce the hime reayuired for the tohere ah by reach Fret peak! | (Bas Wavi-g | Overhoot ". Ci) Maztmum peak overshoot : Mp) SEM Peak OVA ook | Te maximum peak Velue 4 the “response measured from nity - Po Mes CUbp-a. = OMirge: Timp = Cpr Ce> : Value mas Xloo cUtp)? feok ety [mp cet ree ©4079 Fival vedue ¢ Cc). ©) Sektling Hime. ating Bite ® Ss Th the Bime required Por 7Espone| curve to veach and within a Apecified kolorance. band Cetthen 87. oy B/D A firal Value. | ' | @| Eling tine ts fore tolenalete-band | ts= a5 + fer ay tolerance band. £ a] n | | {Soe $e 57. bolorane band 4-0 @]| 1 | Protlerm on Ruypense 4 the siystimm © |" cbbaus the responte. q santly fend pack sytem | Whase open loop tramfer function b SS". | and whan énput % unit step. | x = Solution - GP sr yee (aaa Poe | _— : For Curly feed back, | TF ces). Gly. tAeses) RIS 1460s) 1 + Hace) | COS) = R¢s> (a. : o( | S45Sty) S (82844 Ctsy: 4 SCS #49(S419 2h B c oyB 4c. SO" Sty” 84] A= ACSHDCSHIFBCESICSHIFCCSEAD 5 + | Pus S20 => | 82-1 la] |. Cosd= tt tL | s 3G Besa | Take foverse ‘eplac bansfom, 6a. A Posfhion contsy\, aypkern with Velo | texlbace % Shown to Figune - coletobe line, | Peak ime, Perk OoVe=shoot , Setthieg Kime and abe (Sketch dre TWeaponee Res) ° : Ces = solution: | TR: Gs). Gils)” RCSD HGCOH(S) Cts> _ 100/s¢54 2) Res) See ko LAE Sastioo | too |->@ Creneral fornula Fox art codes orden ¢ (ea J fs SHOE. OS + ay] >-e compare M 26, Ox t00 ~ Judo tonadisce | Pédn= 18 > [06] pounce nese Hime dye Teo. 1 danlfngt eg Se On, mee 6 + tan Wrer/, ) > tasletF/o.g) = tans! (n398d= 93-13" B= 53.12 : b-42 radian . 4. Oa Vinge = Bred recs dys TOF gorse | | | wi pear time | teem. P Wd =F 20-39 Sec . Cis NO Man: peak over hook « Mp s oe Nr ee. =e Oe. | Mp =0- 0ay 7M = 44 IV, , ~ CO ceiling fine Us) 2 aft s =H 2 . / 4s EDy 0-6 Xlo = Orbbsec Bhts =_3 1 8 =o0.5sec. Eon © xtc WO Res “e Zapore :~ rma 7 a (pore - >t She response a Serwomechanm i ces 008 on Oot yg ol shen subject fp a wrk step input-obtatn. an expression for closed Loop transfer funchion -Dekermine the adam ped rotwal (= Solution / ~bok lot CUE = Ito-2e —)-ae take loplac transform , | es) = oh “QA ce at ~ 1 S+60 SHo Ces> = (Stbe)Gs 410) +0-8S (S410) -f- 2)5 CS+60) ~ S(Stb09 B+ 10) —_ Ces>2 boo | SES+60) (S$ H10) T pat + unit Stop signa, Ross Ys. C0Sd= (222 SSF b0D(S+10) —————____ &9 . boo — Ris) RS? “Sty test b00 | im girwal, cc Ces we tompoare , Dp = boo 3 [e289 rad hee | REWp= 10 + undarped nabival fecy = n= @h-h4rad ftec panping wotid = Spa tuyay /) je wil feedback asptem t charaetarutcedt by jan open ramfes funcién Gtsr=k/scs410)° [petomine gat, so tral system ell have damping jrabio 0-5 fox ths Value 9 &. Deternune cet bi | time, peak over shook and dime at peak overshoot for a rik Shop to pu- = Solution: cosy Gs) Re) F+G1ts) = K&cstis) k I+K/sesticy —— Soste, * by @mparting with 5 cosy oe Ro sitp . DD SagudystO? we 2 Br DPR sa edy <0 =e. + ae wy 3.n- [n= Ve G20 > given, Pei, Get nog = BR OY Te, K= loo | rsiovad foce | feak overthook sp. A" AFG ous 1 Mp = 131 Peak ime | oe >t - 00-3638 Od * Dyiege ED | : (®) The open loop bramfer fanchion 4 & wni |teadback aystero given PY Ge. Wacersy ’ ba + oe postive Constant By ashab Ahould the Amplifiey qain & be veduced, go that park overshoot unit skp response 4 the dysbem % wesuiced Prom “5: to ool - rSolubinn: ccs), Riss) a! _ . Bs? \4KfscstH> T8245 4R Aysthy mae, Coy Oat At Re P4Aapdys te — SH s+ hy jon comporing » Wwe get, On= Kr 5 8E OY Bn= [RA @: +. = me; 2(Re pea ovethoor Mp reduced (157 to 257.) by Jncuwaning Ep. The & Fe eased by veducing He Vee [Mpae® * entree | Sides, Taking natural Logasstnrn on beth init = ~€om/ireee* ar | | | Svusocing on both sides L Plog? (Lo mpy = Gf 62 . (ln Mey cea) = & ye | ome = 62 dnp S = sa (nme = & (74 Mey) @ = (Ln Mey” T(ly Mp ye but g= 2! 2» [eo + Sm te T+ Cl me Ke 7 reallnnp Lo HQ mp) AE Mpz0-15, kk, = T14lln ots > 4m (Ino-15)7> | Ky = Bly AE Mes o0-26, k= kao flno-as)™ / 471 Cln 0-25)> | Ko= -SyT - Ae slae = Kea he » 4-6 Gath k ty) reduced q-6times the fest ro eof ! | ‘ | ©) A posikton contol System weeh Velocity feedback, bs Shown: Hiven that g 20°5- Also caleulabe vee Lime , Pear time, martmum ovewkook anol Settling time - ~ adhe « — Qu fae > edlubion : ie Slotoee) HPOCG | \ TR = ccs) _ Ib /sccto-g) m_l RCS) '+ (/sts-40-8>) (Kew) TF = 16 S7400-8 HoKIs +16 on Comparing we gee , wn <6 OBFEK= 2600, . | Wn=ared /sec, S205 (given) | . a \ Trilts? ig RCS) Sar sag ii Damped Pesyusney = On VG Gi Wise Hime £, =p SB -HbH Tad /cee (assume B=toT> > 6: boul VG Ja aid p “ Peak keme tp aes 0-Iot See « = 0-163 in for OF CrP t= 3 Dn = 1P6See . 4) A unity feedback contol syskem & crave by following Open oop toansfex function Ge sr=r4 st) /e CSto-6) ° petermine banctenk — ccs) , GO ng TE = Bey Ie Qcs> Hs) ces) (o-#s41) Leste) - Obst! RUS) (Gust d/occteg) —- S*ESH tes) =fL\f orttstl (s)( Sicn ) | FAY Bstc SS s?484) PASH DA (Het +BSt0)5 . wh S20, Cayuating S tears, P= AtB =Je=-) '‘@ Ces) 2 i dana | Eno | eo — } se inl de Pe Megas | put a stl ae <4 C8-O >> \ CS lace. feartorm feansfor™ » 1 rakuig Bap | RCO | q hei nee | OP tompertty s+ eueheC? Wy | |. ae a. 4 Ep Dy Bea | ; Sr = = 6 | nets BD, < ibe “eg 4 | Ne gre Uh Ae oR Abe | We oo FEDn | aa > Baekeaate “as (ptbedbe] | | [ez tina] frequen] jn 28 | 1 N | 2 A SE in represented by He | | “peel Eee ~ he . Where cH | geal bp drplaceroert 4 uit inet mol! Neto en | re cease | énpuk 4 1a wri:

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