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    ME451: Control Systems Course Roadmap

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    Vu Nghia

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    ME451: Control Systems Course Roadmap

    Uploaded by

    Vu Nghia
    27 views4 pages

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    27 views4 pages

    ME451: Control Systems Course Roadmap

    Uploaded by

    Vu Nghia

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 4

    Course roadmap

    ME451: Control Systems Modeling Analysis Design

    Laplace transform Time response


    Design specs
    • Transient
    Lecture 14 Transfer function • Steady state
    Root locus
    Time response of 1st-order systems
    Models for systems Frequency response
    Frequency domain
    • electrical • Bode plot
    • mechanical
    PID & Lead-
    Lead-lag
    • electromechanical Stability
    Dr. Jongeun Choi Block diagrams • Routh-
    Routh-Hurwitz
    Design examples
    Department of Mechanical Engineering Linearization • Nyquist

    Michigan State University

    (Matlab simulations &) laboratories


    1 2

    Performance measures (review) First-order system


    ƒ Transient response (Today’
    (Today’s lecture) ƒ A standard form of the first-order system:
    ƒ Peak value
    ƒ Peak time
    ƒ Percent overshoot
    Next, we will connect
    ƒ Delay time these measures
    ƒ Rise time with s-
    s-domain.
    ƒ DC motor example
    ƒ Settling time
    ƒ Steady state response
    ƒ Steady state error (Done)

    3 4
    DC motor example (cont’d) Step response for 1st-order system
    ƒ If La<<Ra, we can obtain a 1st-order system ƒ Input a unit step function to a first-order system.
    Then, what is the output?
    u(t)
    u(t) y(t)
    y(t)

    0 0

    ƒ TF from motor input voltage to


    ƒ motor speed is 1st-
    1st-oder
    ƒ motor position is 2nd-
    2nd-order
    (Partial fraction expansion)
    5 6

    How to eliminate steady-state error Meaning of K and T


    ƒ Make a feedback system with a controller having ƒ K : Gain
    an integrator (copy of Laplace transform of a unit ƒ Final (steady-
    (steady-state) value 1
    K=1,T=1

    step function):
    0.8
    Controller
    u(t)
    u(t)
    1 ƒ T : Time constant 0.6

    Amplitude
    ƒ Time when response
    0 0.4
    rises 63% of final value
    ƒ Indication of speed of 0.2

    One has to select controller parameters response (convergence)


    to stabilize the feedback system. ƒ Response is faster as T 0
    0 1 2 3 4 5 6
    Time
    Suppose K=T=1, and obtain such parameters! becomes smaller.
    7 8
    DC gain for a general system Settling time of 1st-order systems
    ƒ DC gain : Final value of a unit step response
    ƒ For first-
    first-order systems, DC gain is K. ƒ Relation between time and exponential decay
    ƒ For a general stable system G,
    G, DC gain is G(0).

    Final value theorem

    ƒ Examples 5% settling time is about 3T!

    2% settling time is about 4T!

    9 10

    Step response for some K & T System identification


    2
    K=1,T=1
    2
    K=1,T=2
    ƒ Suppose that we have a “black-box” system
    Amplitude

    Amplitude

    1 1 Unknown

    0 0 ƒ Obtain step response


    0 5 10 0 5 10
    Time Time
    K=2,T=1 K=2,T=2
    2 2
    Amplitude

    Amplitude

    1 1

    0
    0 5 10
    0
    0 5 10 ƒ Can you obtain a transfer function? How?
    Time Time

    11 12
    Ramp response for 1st-order system Ramp response for 1st-order system
    K =1 ,T =1

    ƒ Input a unit ramp function to a 1st-order system.


    5
    K=1,T=1
    Then, what is the output? 4 y(t)
    y(t)
    u(t)=t
    u(t)=t

    Amplitude
    u(t)=t
    u(t)=t y(t)
    y(t) 3

    Amplitude
    slope
    2

    0 0
    1

    0
    0 1 2 3 4 5
    Time
    T im e

    ƒ Steady state response


    (Partial fraction expansion) ƒ We may want to modify the system s.t.
    13 14

    How to eliminate steady-state error Summary and exercises


    ƒ Make a feedback system with a controller having ƒ Time response for 1st-order systems
    a double integrator (copy of Laplace transform of ƒ Step and ramp responses
    ramp function): ƒ Time constant and DC gain
    u(t)=t
    u(t)=t Controller ƒ System identification
    ƒ Next, time response for 2nd-order systems
    0
    ƒ Exercises
    ƒ Review examples in this lecture.

    One has to select controller parameters


    to stabilize the feedback system.
    Suppose K=T=1, and obtain such parameters!
    15 16

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