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Control System1 Lecture50001

SYSTEM AND CONTROL

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43 views28 pages

Control System1 Lecture50001

SYSTEM AND CONTROL

Uploaded by

fouadbalomi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Control systers 4. LeA GS b> | Epstalembadvet t cnn eral _& ‘Time Response, Pralyse3>— “Hhetime response. enelysis i thes Sholy of the system chatacterishs Sor Parhealar Iapat Siynals, O Transient Hurston” Response of ot Fist stele BA Sis otelersystemr witha eres fs cles cribecl by So, \ Sa" TE, a = A Rey S4q TSH Res) a 169) oR Res) T , 0 Stetes Hod inihally the ouch ech fs aeto where [tes] ~ CHa(-€_ when the input ee] Qa <6 ct p ea ceee eae f oe.) -|-c oc ore O68L se cleo chook sec doalitandi tp! El ede kena oe CBN ed 00 gel rarlipal=t Lee cAtlen al (Hilo dle eva CAS JEN Ee LU ESN eS Oe 63-7 steady state cOtniti SS - Initial slope = ——sonstant 2 (final value) 6) ate | ot 63% of final value toh 0.6 / at ¢= one time constant alu 1 2 3 g | a a | a a -2- _ a acon —" “ ¥# lyme conchae — TH is the time it take for the skep response t» rise, to 63% ah its Sud vate Teak a K Rise Time, Tra Tt & devel as the time fr the Yesponse to qo Spo O OF & HS final Value. Rise tme Is Gund by Finling, Nhe cbifference in time, cH eojand clH=0! Hence Tra 23! _ ot) oe -L to Qs Re 2 ak el #Scitlng fine Ty ae sO FH Is the time for Yespanse to readd anol ay Within 27 of HS final Valve pease ae a See —— saad aN Claes 2 ole poor @ Ve “151 . ALN Ee 61% NYO Oe \ SVC CM. es Lice BE OPK? ae oN 9? de Ir oe ls sb eee law I CD ofan oN CVe0| Jes aN [AN cap 2 4Te = boote re eoN EP Ns Gees BENS DIX Melooss ier yleen \ ade 1h es ev toad sls estteloes 21 se Example o— bo A system has transfer Suction Ges) = ¢- acre Rad 4 tone anchast Te, setting time, Te anol tie Hime and | eu he unth Step response - Cus The system is Fiat” dele Ge: Res Ces) i ° S4stew ok oe 5S Se Bo \ Res S456 Ska T3507 Ene oat A250 ne Nea diab 2 conse GAG "Gy Tse Kad Tey G09) = 6.08 Sec Teles 0d a F = WL 222T. =2A (0.02) = 0.044Se0 a to plot the. shep yerpoase iL Ts. Ger 25 Ces = Ten Rey € Reed ts unit step = o Res) a 5e co LA Aa Cex Tesys Risy 2( Faw VCR) = Seuss) * wo sy M8 a | =452\ Bn gee Are (5). Se sigs) | > Se -56 nice Se iar (+50) -4- Ces A get ab tro ¢ (-50)(0) wal et-€ = l-leo at tot L q = so Cu.) Sse) | gl =\-e 2 1-€ =\—0:36F% <0.4397 at trod ad Cu. 1 = tro=h Final 2 mal velue 2! j ables Huss, Coe) Yio) Yay. 310) = OYUN alr 6.68000 \e—_ > Ts 0.985 -$- 3 EXomples— For the cinait below finck the Gpeciter Voltage it the swith close at to. Assume 2etd inital eee Also fink Othe time. constant Te @ the Hise tyme Tr © the seMting time TG , For the expaciter led e @ Flot the uni sep VesPene Ub) Solubon Transker Runchion, = LT of oubpich = Vols? _ Vet LT Rk inpt = Wray “Vie V6 _ Teg) A we Se al. eo Rey Rr \e x i re Vecsl = Vy a eS) Vise kes oP ale Vibes = VG a HMMS) ys \( 2) _ fo -B 8 Wea MCgha ST gaa. Pz 5) )G=-s } 5 Vi) = _ S saa take inverse laplace z ast MW = 5-58 SI su-& | LL ~6- Oe co _ & ° : ae NG) veh = cat pec CMedeye [| (9 (08) =3As . ¥Tansiot Respse & Seconcl ele The transfer Ruacion of @ Seconcl order systow Us avn by Foe Wh Santo, a Sun $+ bn these. feles afte the Slution o® a Seroncl cele polynemal in FOS) can algo Witten inte Aa Prooluch ob des oe ee e Ga rex\wcl) (Sa Qe -\wd) Ta bl =n Ji-F * Nabatal Preven} Wr 4 — Tt iS the yohural Arwen ch a Seconol cele” system OSciNation of Me siglo Wwitho dlowaping, Wel 2—Tt 5 the compel Presuene FP Scittahron & Ets the clamping ie - Foul special cases EY i ® wWrolemrped case. % 20 ® uneler clampel Se oL& cA © Mhialty dompel cave =| Wover dampecl case “ZI oth caneleint peal R= 2 Step YesPonses for seconcl ofeley” system clamping Cases. -9- -s ee Ahe step vesponse o& under olampel secsnch fale ssysheur oft) Allowable “NA © Rise Aime Mh Meg The! Hime vequirecl for the wavebanr be Qo Prom O| £0 09 of the Bnol Value. Tre lS FOULS L-OTIT AT dn Q@ peak time, Tp oe the time “ to Yea the WET marimunr Peak percent evershat pd Th oo o © amount thet weve Color vercheas the Stenoly ~Shede oY Final Value at dhe peak tre Mey 21¢ Pace ¢ Binal Chinal OR (al) Pe <| & \ see As —\n (PS ————_leo Te ncaa yoo @ Shing Kme. AV eo Nhe time Yequveol Bar the woveRirm bo veal. anol stay rorthin, TAL ob the shourky-clale. valre Ts We es \eloo © Qa es We ol or | -ll- Exomple g— Fae sistem belay Finck %, Wir, Te, 1p Ts 16 SUZALG Sdwticn ee the general Form & seconol area” 35 rg Ty ancl MP - (a _ Wr SHSSIE St agungue Weel = Wasuracllsec LyeneBr J2S = S82 Z corys “Beoses| “lime constant, Te = —_—- fan Gas = 4T TM SeW hing time Te UTC = U (0,666) =2. 664% Sec = OE Secenok fed time Toe TW _ 3M = ‘8 “re onfae Un eay es tee oF Roo = WQiobt TT 3 Wa FOS OMA ZY Wo39% +1 wp = G2SE Secon -|2- G2 4 cu feedback control system has a forwarcl pth transfer Se function Aiven by Gor = A, if the inpitte te Syston Gav is it ; A Unit Stef fetermine the time taken fur the ontpyt to Yeack Fo% of the Pinal valve. Solution G2 Te RODE Bay . cs) TFs Sa = Go _,. a q a = ae) = —- V+ Ges) a (seq SHO cay = Cota) Bray (Silo) = Ces) _ q Res) = SINC) ae ota 2s! CS'+to) cosy. 4 aeeeney = oe SE pe ca] SC8+lo) * ST "TRIS, [as cf icy ew. ee Lcesy ft (Sa RN) SF —20 SY Jogi tlols SH 2zwnSt woh A23wr =10 => wy = lo Ry we Link 4 from overshoot ay Following B= -Ln( 2 nC “Pep | 5 tne Le, “TS -0.sq12 = OS4i2 W, > 1 ° a eSai2) = B-USzy rad/sec From equctien 2 lolg = Wh lok = (guszu) k= (@ystel Fis2e . te-d =~ 3 =O4656 5 ‘“(osanye oan & 3 | on ° 8 <= q tp20.46s6 Secencls 96 Given the susters ia Grane, below KG) bo ees) CS+20)¢ SE goo) ® tr impel tt) = Sect, Linck the Steady shale: Velte &f ch ® App Ximately how many, Seconcl oft Yequivect far the system te Yeach Steachy state. © be you eke the transiett Vesperse to be escillabery P Tstihy Your answer. @ verify gour Yesults by. obtaining a step resfonre, Selubtery Solution - i alias! Tec) RG a) the steacly state = Sinal values Linn c(t) = linn $ cts) = hers! Tes Re) ‘3 toe S90 Sinal Valve, +) olin(S!)( See Rie oF cet) = bin(S)( oe wa ) YO) osu) Ki) = 5 s -_ ~ $ral value af cHalim §. Goo Su GaN gs2 © Ss Ch) = Chines © Ais systens is ARivel otclre CaM) then we break 3% oe Sota bale Set ode) ark secorel obeler- xe Reta -~\6- “Tine &e 2B, Bye = eSaaey (S$ Bs4ze) S420) “SHes420 600 S420) (S$8 S'420) = ACceasezorHgse €\(s420) Csrall stg glee) ACpeg se 20\4 BS (S420)-4 CCI+20) = 00 2 zu ee BS 2080's 64200, « See C i GIS 4 C8Ax 20 B40) S204 20¢= Cee => Atge0 ——-O BA+2R4620—-© RAAQ0c soo —-® Frou £40 @2-A Substitute in CFO $A-20H4+¢ co D-12A=¢ = A eae subshitube. in eq) Be procaboo = LOC « ae 12 Rol =Floo De = Bee. 2pEg (E3%6s | 260 a 0 Tesy=2-31 + -239 42766 D Be 8 = gun = 0-894 SE ; = O-BI4 hich will moke the sgiten Slightly osci llabey C-eu/i=x) Tef"P- e Xlovz CABG Te 2028 ¢ Tye | sec — 3 a NS see CTH NFE 3 MIR od) 20. 68Sec ia 3 Cora = Cornerl (=e4i = 75 [218 4-75 cs ‘ Te P25 T6605 Tye) see. 3 pt —# Sthedy-stete. fn Evie oe . - West is i “bebsedn the ing = [| anette oda Taskiap ats sek Be sto por | A\. unit skep input _ mes 1 forty Oo fer téo Leplece Hens lum oR ret) = Res) at v Z\ Ramp ‘inpet- rb = -Lirwiero = 4 _. -irwl-re on 4 AZo — ye) [BJ _parabela input ra =e tL oe Kos) = y aS | Steacly sheate ebro in berms of Gs) | 7 EGS) = RS) -€CS) _. © a CC) = Ets) GV) —2@ = substituting © into © | _ Ee) = Res) - FIG) ECs) 4 bts)Ca($) = RCS) ECO Li 4+ Gil = KC) Eco — RG) \+G668) p new we apply. the Rina valve theorems Clo) ze = Ess = limagets) - - | rr - “go j VER ayy FRG) se sk |__@ | 2h how we use the. nest 4 i te the inpit a step type Ros} = = C0) =\ing SRS = Coating SU) So t+Gcs $2 \4G es) eGo) = tim S$ _ gro Gg __t EO Li Ges Attia Gus) Soo s+? ee) _ i sree alin Gy _| Xa Ke where xe = lima cs) 5 Kp is pesthion eae goo 7 _ = Ob oH —— - Ja) rf the inpat- Is Remap —— Rosa LL ee Qu CO a tie, FRO aber (ME) OL {__ 80 SOE V\4Gesy $>F° 146) soe Fae | Z Bole ley) eee = bw PS Ga Sees So pare * ad Vacs _— _A mt ke se kw Where fev ts Velocity consteit —____|Kwv = tim —¢ egy |} i $30 LL. _fB\ FE the “e &_patabotic input Ress ee Pa ee eee tS GS eS ee Saro \* GW Soe ls Ges) tn ———_ WV se “gt +s, ha ge Lingdacsy SO KE sys ee 2 _|—_____ Tr fs Mee Value ef min the olenomiinatey Tes C7 Kesh a Coen. RS) Cote.) (Ste) — a TE n=0 then Mre_seastenr {sa Type 0 a Tf wet hea the syste _{s_a Type a See dt Th nz2 then the system {cg Type2—— | exer a — Tis =k =k J CHUICHE] —_ g” CUI Cs!-42) _ Are systems ts Teo | - sree KOSe) — SGoeie seu the systenr is type z RK Gsaint S487 : 2 Whee Cs43/, SCG) SH sui(oha) the systems \shype 2 RY ‘able 72 ties together the concepts of steady-state ero, staticerror constants, and system type. The table shows the static error constants and the steady-state errors as functions of input waveform and system type. TABLE7.2_ Relationships between input, system type, static error constants and steady-state errors Typed Typel Steady-state Static error ‘Static error Static error Input error formula constant Error constant = Error Error 1 1 Step, w) ne rome Ty K,=00 0 Keo 0 1 1 Ramp, tu) i K,=0 co Ky=Coosnt Ky =o0 4 Paola) 2 « co Ky= Constant Pp ee Pdarple$— Sar Yaw syghers lodowr Pinot Ye sheacty shebe eiiers Rar inputs of Ba, StULH, ancl SEW . The Rando UU he unit shep Risy +. DES es) Selvon = @ if the tapyt 7° Urch= sult) ~Risi= & ¢ C spp 2200) = pa SRO = Lin § 8S? \aGos) Si 5 TC eplod) = 2 step + Lim Gos) = ge = Pere ot: Lin [ soedsur(s+6) = (2¢Co 42)o+6) Se S30 | Stage) (OY Coad (6 44) Lien sae e css eo a Ceplsi = S =. Ss Qt eee | | +eo os iE @ fig the inp p= sta th (Ss) = € oe _ —— dy) ie {| + — 2 060)= Cramp bo = Ninn From slim (Sj \ ; Soe tegen See ew ae 0) z\im, = 5 _ Yenp Shs0) Fat din Siocs) Ss os $66) = Leo Ty eccameac 1! yo oS Ss S13) (S44 c _ _ \Re= 2 \90 | - 12 — fram wap oo) = wee a loo 7 ® Te_ th pat Ct = BEA a R= S 2 — NO _| a mm SRS) sr (sie a FE Safe “leo (aay (gE } ey — \ | oem tise — = | Cle vatabott—= A eek | ~2F— \eGe See\ S38 exemple e— Given the corral system in Gaure belo Finol the value of K that give 10% ebro in the steccly shee. _ RG) Kéd4s) SCs) <<. SCS46) Co +R) Steg) Saw Mon = 7 RAED Bre sastenns ie T Tape AH. etter stahest! i ~9ppl4. to evap a a eee nen Ey Sic Ry kus lo = lina LSG6S) = bing KOSS) : ‘Lo Sx0 SKI LHC) —_Kvslos sed = BK © OG) 33K “le = SK = Sk= 3360 =) ease =6A_ op 2fkage2] a

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