Linear Control System (Week-5)
Linear Control System (Week-5)
L C S
i inear ontrol
Natural Frequency n
ystems
The frequency q y of the oscillations of the system y without damping. Ratio of exponential p decay y frequency q y to natural frequency q y = exponential decay freq / natural freq (rad/sec)
Week-05 12th Mar 17th Mar 2012 Time Response (Contd. ) Chapter#04 p
Instructor: Engr. Shiraz Latif/ Engr. Atif Fareed/ Engr Areeb Ahmed
Damping Ratio
&
Compare both these TF and get the formula for & n
Response as a function of
To define the transient specifications p associated with underdamped responses. Relate these specifications p to pole p location, , drawing an association between pole location and response form. Tie the pole location to system parameters.
Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed
General 2nd order sys: For underdamped response, = ? ? Predict the root nature . ? ? With step input,
Rise Time: Tr: Time required for the wave form to go from 10% of the final value to 90% of the final value. Peak time: Tp : Time required to reach the first, or maximum, peak Tp = n 1 2 Percentage Overshoot: %OS: The amount that the waveform overshoots the steady state, or final value at the peak time, expressed as a percentage of the steady-state value.
oscillations
Natural frequency dont cause any affect on the nature of the response b is but i only l the h time i scale l factor f
Settling time: Ts: Time required for the transients damped oscillations to reach and stay within 2% of the steady state value
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Tr, Tp and Ts yields information about the speed of transient response. Ts, Tr have h same definitions d f as in first f order d systems. Same definition for order >2 as well. These specifications (Tp, Tr, Ts) are also related to the location of poles. poles No precise expression exists for Tr but can be obtained from plot & table
= n . Tr
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If location of pole is s;
S can be represented as s = d + j d
d is the real part of s exponential damping freq. d is the imaginary part damped freq of oscillation
Tp, Ts and %OS can be related to the location of poles with d & d
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Poles moves vertically up Real part same Pole f but envelop same Ts remains same OS Tr Poles moves horizontally left Imaginary part same Pole f same , damp rapidly Tp remains same
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Poles moves at constant angle (radial lines) %OS remains same Speed variation variation. Pole away from origin have fast response.
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Num = [1 2]; Den = [ [1 5 3]; ]; T = tf(num,den) Poles(T) Implement same Zeros(T) with Simulink Pzmap(T) Step p (T) ( ) Grid
Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed
s+2 s 2 + 5s + 3
omework xercises
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Instructor:Shiraz Latif/ Atif Fareed/ Areeb Ahmed
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