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Unit 1 Example 2

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6 views

Unit 1 Example 2

Uploaded by

saiedali2005
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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System Specifications

Example 2: Evaluation of a system step response


a) Show that when Kp = 1.6 and KI = 1.1, the closed loop control
system in Example 1 can be approximated as a second system
described by
0.47 s + 0.32
TL ( s ) = 2
s + 0.76 s + 0.32

b) Determine the rise time, overshoot (in %), peak time and settling
time of the unit step response for the approximated system in
part a).
System Specifications
0.9𝐾𝑝 𝑠+0.9𝐾𝐼
From Example 1: 𝑇 𝑠 =
𝑠3 +3.5𝑠2 + 0.9+0.9𝐾𝑝 𝑠+0.9𝐾𝐼

0.9(1.6)𝑠+0.9(1.1)
a) 𝑇𝐻 (𝑠) =
𝑠3 +3.5𝑠2 +0.9 1+1.6 𝑠+0.9(1.1)
1.44𝑠 + 0.99
𝑇𝐻 (𝑠) = 3
𝑠 + 3.5𝑠 2 + 2.34𝑠 + 0.99
b1s + b0 𝑎𝑜 0.99
GH ( s ) = 𝛼1 = =
𝑎1 2.34
a3 s 3 + a2 s 2 + a1s + ao = 0.423
𝑎12 2.342
𝛼2 = = = 0.761
𝑎1 𝑎2 − 𝑎𝑜 𝑎3 3.5 2.34 − 0.99(1)

𝑏𝑜 0.99 𝑏1 𝑎1 1.44(2.34)
𝛽1 = = = 0.423 𝛽2 = = = 0.47
𝑎1 2.34 𝑎1 𝑎2 − 𝑎𝑜 𝑎3 3.5 2.34 − 0.99(1)
System Specifications
𝛼1 = 0.423 𝛼2 = 0.761 𝛽1 = 0.423 𝛽2 = 0.47
N (s)
GL ( s ) = N ( s) =  2 s +  2 1 D( s) = s 2 +  2 s +  21
D(s)

0.47𝑠 + 0.761(0.423)
𝑇𝐿 (𝑠) = 2
𝑠 + 0.761𝑠 + 0.761(0.423)

0.47𝑠 + 0.32
⇒ 𝑇𝐿 (𝑠) = 2
𝑠 + 0.761𝑠 + 0.32
System Specifications
0.47𝑠 + 0.32
⇒ 𝑇𝐿 (𝑠) = 2
𝑠 + 0.761𝑠 + 0.32
1.8 1.8
b) 𝜔𝑛2 = 0.32 𝑡𝑟 =
𝜔𝑛
= = 3.18 s
0.32
2𝜁𝜔𝑛 = 0.761 4 4
𝑡𝑜 = = = 10.53 s
𝜁𝜔𝑛 0.762
2
0.761
𝜁= = 0.672
2 0.32
𝜋 𝜋
𝑡𝑝 = = = 7.5 s
𝜔𝑛 1 − 𝜁2 0.32 1 − 0.6722
𝜋𝜁
−
𝑃𝑂% = 𝑒 1−𝜁 2 100 = 5.8%

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