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Digital Control

Digital control notes

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Raiyan Basher
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24 views4 pages

Digital Control

Digital control notes

Uploaded by

Raiyan Basher
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Digital Control (erste: 1s) Tnour daily life, controllers one mostly digital compute system. 50 ve need DIA (digital - to- analog converte} and. AlD (analog to digital) conventens fon ¥ax purpoi] e ota “8 om Zswott pee $4) FS E(B) CK) palso knszn go uw x a a(t) y Te % Be er kt . at ak sink = Bein sin kT soe Pe cosw\ Sample_and held Ste] le ane Bn) 9) -= al) -o-7) ost ar G@-= P- S = Ee s The_mapping things + 5 Be massing fing 4——>_aplane. 5 Tie oto ja line Bs plane ‘anf The. 2 =a 2 Plane, Some_theonem fu) <> Fe) AF) + batty <> OF) + A(R) Linearity $Ub-nt) e+ 2" F() Time. shift ee & pea) #E(b) <> =Te oe diffuentiation in ime 409) = Kim F(@) initial value Hwonem §e@r- Hin (-e) FG) Final value tRaontm 2 Example F(y= O88 (e-05) (2-04) 6), 1 was, 2 @osyasy — t-or =) Fee 252, Os a foct) =-25 68)" e5(0.7)" $ n Up. { ALD Coenpaterf Dia L[Garn bf Fro ate 2} (8 ay C2 Seah acm nib circle in 2 plane =r) e fe - @+Bb S42F Fe oat tea st = ke") {&- a ak sampling freq, lose, T= /p = Acous @Aze* or T @Bse Potting s=0 in Q(3)_is same_as putting zat im (2) @©-S: 2 6@= eee Using te 3 formulae tot can éuilkde bebseans = (eo domain and demaiw. oe T(z) = 4(2)_ . K(o.0esse+ 0.02483) a) 24 (0.0655 k- L0GFZ)8 + . att) eo i ceomioen| See eA ifcoe gut K=20, Closed. op poles: 0.0.2 50.98 Aree wee Ket, > dose, 4D se 8 Bee t= ce fon Keim, pole cuk Husk dedesonstatia | cle . ee = fe") Systems ins plane which are stalsle can become. unstable due 4s how hry am sampled. then Tso, pele is_at 1. when Te 20, pole is at -10- Semapling Hew Should he beboaen Time _tosponse. Qe@= KG) Sea, Naloral_nespowse is G(s) Poles on left hand give a. ying expat pond poles ard tenos boli set gain. = KG) 1 Go= SEY. aya. 2G-9) eplases YGY= REIS) ae = 0/4203. nici © and “Ta fpr sicily So fon Pole ob 0, we, apt a nesulk SS} fonm. ex) | Wansient_response_ - tines Fconshaent Tp nts of constunl overshoot lines " constant Ts reat jo ee" eT, jot we know, 22 6" Line § constant. TE have same S, $0 it will become civele in 2 plane (different lines give diffe nk) Line_of constant Tp have same co, but vanging ¢ Tt becomes radial line on? plane Line of constant ovenshcol becomes some weird. Polynomial. Spiral shen designing ple aon ust be soFon fase Uns on requivernen cahen [Al <1, the response dies Steady stale Error Aahen. Finding, G(s) ,use hold block cascaded waite plant. oe Step inputs _e(oo)= Tee Ke = Bm G6) Fy) Ramps __e. a) = Vey Kye Lim SQ in (a4) Parabolies (8) = Kas fin $66) => be TED Example? BO ste Fo step. namp and parabolic find steady state errer: Sq « BOE”) oa) soe tan el sto(i-e fH we el@)= 1 co "eas Fin ep Kp Lin GC) » Fon amp, Kye Em Glatt) eo se e(ayege on Fon panabolicy Ka = ate tin GFA (ao , 50 e@)et Tnthis example ,T Sif not cause much Problems bu in gietal, T plays a caitical tle insteady state as cohen T is_vonied , stability can be al stake Stobility via Rovtt.-Hurwite Given TO) = sO ise can vse D(@) and Routt to de stability 2 considenction, (oe have to use bilinear havsfeam Se Et Suppose DQ) = 2-2-0202 +041 Ful S21 in_ plac Of 2, and equate evenytiing. 4.0. (SHH (By = =o fe del USs-1F 0 We see total root count Si wo is 3. As Mant is Asign elas =o sere pe ow right side of s plana, st =tsa9 0 't * thus otfar hoe Lie on SF Weft Golf, Urstebte Design ssguent —4 Gn) Regret = Ste A0R75) ‘rot Fnom the combined (Ts, Tp.) plots .we con locate fe E504 Aine, le te can dnow root locos of closed loop system. Rook locws drawing process is exacky same in Sand > plane Conditions oP. root Locus Le KaG) HG)=0 <=> 4 kaa) HO)

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