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Automation 9

This document summarizes key aspects of the root locus method for control system design. It discusses generalized and parameter root locus techniques, how to design PID controllers using root locus by placing poles and zeros, and provides an example of using root locus to design a laser manipulator control system. The relationship between system performance and root location is explored. Students are assigned practice problems to further their understanding of applying the root locus method.

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Boon Keat Chung
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53 views9 pages

Automation 9

This document summarizes key aspects of the root locus method for control system design. It discusses generalized and parameter root locus techniques, how to design PID controllers using root locus by placing poles and zeros, and provides an example of using root locus to design a laser manipulator control system. The relationship between system performance and root location is explored. Students are assigned practice problems to further their understanding of applying the root locus method.

Uploaded by

Boon Keat Chung
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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Ch6

The Root Locus Method

6.3 Generalized root locus


Parameter root locus
Equivalent unity feedback transform An example (refer to Script 4-12)

Zero-degree root locus


System contains inner positive-feedback- loop

6.4 Parameter design by RL


Root locus is a single-parameter method
How to design two or more parameter by RL? Refer to P354-356

An example: Welding head control


Control system design by RL according to performance
specification.

6.5 PID controllers


Three-term or PID controller (P366)
Transfer function in frequency domain

KI Gc ( s) K P KDs s
Controller in the time domain

de(t ) u(t ) K P e(t ) K I e(t )dt K D dt

Mechanism of PID
PID controller provides a proportional term, an integration term and a derivative term. It is widely applied to many industrial process. Its popularity can be attributed partly to its good control performance and to the simplicity of design manner. PID controller introduces a TF with one pole at the origin and two zeros that can be located arbitrarily in the LH s-plane.

PID explanation by RL
The TF of PID controller
K ( s z1 )(s z2 ) Gc ( s ) s

If a high dynamic performance is desired, then designers can select zeros of z1 , z2 to lie further left in the LHP and set K to drive the roots near the complex zeros.

6.6 Design example and simulation


Laser manipulator control system
The requirement for steady performance The requirement for stability The requirement for dynamic performance

The Root locus using Matlab


Self-learning after class P373-380

Summary
The relationship between performance and roots location The concept of Root Locus The RL procedure The generalized RL and parameter RL A powerful tool for the analysis and design of modern control system

Assignment
E7.17
P7.3

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