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ME451: Control Systems Course Roadmap

1. The document outlines the course roadmap for ME451: Control Systems, covering modeling, analysis, and design topics such as Laplace transforms, transfer functions, time and frequency response, stability, and PID control. 2. It focuses on the transient response of second-order systems, characterized by the damping ratio and natural frequency. Pole locations determine properties like settling time and overshoot. 3. An example illustrates how to design a second-order system to meet specifications for percent overshoot and settling time. Exercises ask students to calculate responses and design controller gains.

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Vu Nghia
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95 views6 pages

ME451: Control Systems Course Roadmap

1. The document outlines the course roadmap for ME451: Control Systems, covering modeling, analysis, and design topics such as Laplace transforms, transfer functions, time and frequency response, stability, and PID control. 2. It focuses on the transient response of second-order systems, characterized by the damping ratio and natural frequency. Pole locations determine properties like settling time and overshoot. 3. An example illustrates how to design a second-order system to meet specifications for percent overshoot and settling time. Exercises ask students to calculate responses and design controller gains.

Uploaded by

Vu Nghia
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Course roadmap

ME451: Control Systems Modeling Analysis Design

Laplace transform Time response


Design specs
• Transient
Lecture 15 Transfer function • Steady state
Root locus
Time response of 2nd-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) Second-order systems


ƒ Transient response (Today’
(Today’s lecture) ƒ A standard form of the second-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 position control example
ƒ Settling time Amplifier Motor
ƒ Steady state response Closed-
Closed-loop TF
ƒ Steady state error (Done)

3 4
Step response for 2nd-order system
Step response for 2nd-order system
for various damping ratio
ƒ Input a unit step function to a 2nd-order system.
What is the output? ƒ Undamped 2

u(t)
u(t) y(t)
y(t)

1
ƒ Underdamped 1.5

0 0
ƒ Critically damped 1

DC gain ƒ Overdamped 0.5

0
0 5 10 15

5 6

Step response for 2nd-order system Peak value/time: Underdamped case


Underdamped case
ƒ Math expression of y(t) for underdamped case
1 .6

1 .4

1 .2

0 .8

0 .6

0 .4

0 .2

0
0 5 10 15

Damped natural frequency

7 8
Properties of 2nd-order system Some remarks
ƒ Percent overshoot depends on ζ, but NOT ωn.
ƒ From 2nd-order transfer function, analytic
expressions of delay & rise time are hard to
obtain.
ƒ Time constant is 1/(ζωn), indicating
convergence speed.
ƒ For ζ>1, we cannot define peak time, peak
value, percent overshoot.

(5%) (2%)
9 10

P.O. vs. damping ratio Pole locations of G


ƒ Poles (0<ζ<1)

ƒ Damping ratio

Next, we clarify the influence of


pole location on step response.

11 12
Influence of real part of poles Influence of imag. part of poles
ƒ Settling time ts decreases. ƒ Oscillation frequency ωd increases.

ts

13 14

Influence of angle of poles An example


ƒ Over/under-shoot decreases. ƒ Require 5% settling time ts < tsm (given):

Im

Re

15 16
An example (cont’d) An example (cont’d)
ƒ Require PO < POm (given): ƒ Combination of two requirements

&

Im Im

Re Re

17 18

Summary Exercises
(Use a calculator if necessary.)
ƒ Transient response of 2nd-order system is ƒ Read the related topics from the textbook.
characterized by
1. For the system below with ζ=0.6, ωn=5
ƒ Damping ratio ζ & undamped natural frequency ωn
(rad/sec), obtain
ƒ Pole locations
• Percent overshoot ?
ƒ Delay time and rise time are not so easy to • 5% settling time ?
characterize, and thus not covered in this course.
ƒ For transient responses of high order systems,
we need computer simulations.
ƒ Next, Root locus

19 20
Exercises
2. For the system below, design K1 and K2 s.t.
ƒ Percent overshoot is at most 20%?
ƒ Peak time is at most 1 sec.?
ƒ With designed K1 and K2, what is 5% settling time?

21

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