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Control Systems (EC 205, 3L + 1T)

This document discusses control systems and their analysis in the time domain. It begins with an analogy between mechanical force-motion systems and electrical voltage-current systems. It then discusses modeling systems using transfer functions and testing them with various input signals. The response of first and second order systems is analyzed in terms of specifications like rise time, settling time, and damping. Damping ratios are classified for second order systems. Methods for designing controllers to meet requirements like limiting overshoot are presented.

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Abhishek Rai
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Download as PPT, PDF, TXT or read online on Scribd
19 views

Control Systems (EC 205, 3L + 1T)

This document discusses control systems and their analysis in the time domain. It begins with an analogy between mechanical force-motion systems and electrical voltage-current systems. It then discusses modeling systems using transfer functions and testing them with various input signals. The response of first and second order systems is analyzed in terms of specifications like rise time, settling time, and damping. Damping ratios are classified for second order systems. Methods for designing controllers to meet requirements like limiting overshoot are presented.

Uploaded by

Abhishek Rai
Copyright
© © All Rights Reserved
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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CONTROL SYSTEMS

(EC 205, 3L + 1T)

Force (Torque)-voltage(Current)
analogy
Mechanical
M
K

Electrical

F(t
)

x
f

Force (Torque)-voltage(Current)
analogy

Find the electrical equivalent of


the system

Time
Domain
Specifications)
e
Vr

Specifications
Vt
Va/Vf

K
(Controll
er)

Input

(Design

TF

(Transducer)
System

Outpu
t

Time
Domain
Specifications)
Input

Specifications

TF

(Design

Outpu
t

TF may be of any order. However, it can be reduced


to 1st and 2nd order for easy analysis

Test
Signals
1. Step Input

2. Ramp Input

Test
Signals
3. Parabolic Input

Time Domain
Systems

Response

of

Input,
r(t)

1st

Order

Output,
c(t)

Design Specifications
Time constant,
The time for e-at to decay 37% of its
initial value.

Rise time, tr
The time required to go
2.2
tr
from 10 to 90 % or 0 to 100 % of its final value. a

Settling time, ts
The time for the response to reach,
and stay within 2-5% of its final value.

4
ts
a

Time Domain
Systems

Response

of

General form:

Where,
: Damping ratio
n : Undamped natural
frequency

Roots of denominator:
s 2 2n s n2 0

s1, 2 n n 2 1

2nd

Order

Damping of
System
- According the value of , a second-order system can
be set into one of the four categories:
Overdamped - when the system has two real distinct
poles ( >1).
Underdamped - when the system has two complex
conjugate poles (0 < <1)
Undamped - when the system has two imaginary
poles ( = 0).
Critically damped - when the system has two real but
equal poles ( = 1).

- Given a step input, i.e., R(s) =1/s, then the system output
(or step response) is;

- Taking inverse Laplace transform, we have the step response;

Where;

or

Time domain Response Specifications


Rise time, tr
The time for the waveform to go from 10 to 90 or 0 to 100 %
of its final value.

Peak time, tp
The time required to reach the first or maximum peak.

Settling time, ts
The time required for the transients damped oscillation to
reach and stay
within 2% of the steady-state value.

Time domain Response Specifications

%OS e

( / 1 2 )

100%

Time domain Specifications

Time domain Specifications

Percent overshoot, %OS


The amount that the waveform overshoots the steady-state, or
final value at peak time, expressed as a percentage of the steadystate value.

Settling Time ts
The time required for the transients damped oscillation to reach
and stay
within 2% of the steady-state value.

Design a controller (as) so that overshoot


is 4.6 %

Requireme
nt

Without controller

With controller

Requireme
nt

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