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Quiz 3

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24 views5 pages

Quiz 3

fgdgg

Uploaded by

elshadmuradovbhos
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Agamirza Fataliyev Quiz 3

1. Please, describe multiloop feedback system with an inner loop and outer loop.

A multiloop feedback system with an inner loop and an outer loop we can draw below. The little one,
which is inside the system (number 2) is our inner loop which has controller, actuator and process blocks
including sensor and under number 1 we have outer loop (the bigger one) which also includes controller
and sensor.

2. Please, shortly explain steady-state errors with table.

The steady-state error is calculated using final value theorem: Ess=lim E ( s)


s→0

Depending on the number of integrations, or in other words, the power of “s” in the denominator, the
steady-state error has different values for different test signals. For step input, type 0 system has a finite
error, and calculated using position error constant. Type 1 and 2 systems have 0 error.

For ramp, type 0 has infinite error, type 1 is calculated using velocity error constant. Type 2 has 0 error.

For parabolic input, type 0 and 1 have infinite error, while the type 2 is calculated using acceleration
constant.
3. Please, find out which polynomial(s) is stable.

All are stable

Q1
1 3
2 5
K=0.5 0
K*5/K 0 stable

Q2
1 1
4 4
K=0 0
0 0 stable

Q3
1 3
4 4
K=2 0
4 0 stable

On the Paper also

4. Please, describe PI controller.


The general equation of transfer function for PID controller:

Gc (s) = KP + KI / s + KD s

For it to be PI controller, we will have KD set to 0, so it will be proportional and integral controller:

Gc (s) = KP + KI / s.

5. Please, according to asymptotic curves approximate it’s transfer function.

From graphs it can be seen that they are for zeros and the possible transfer function can be
jw
G ( jw )=1+
w1
6. Please, explain 2nd order performance specification in the frequency domain with help of step
response.
2
wn
The tf of second order system is: T ( s )= 2 2
s +2 e wn s +w n

This graph is the according frequency response. Here w r is resonant frequency, w b bandwidth, M is
maximum magnitude of response.

As M increases, means that overshoot also increases.


As w b is larger, the rise time is smaller.

The bandwidth is the frequency at which the frequency response is -3dB.

So, better response for second order system is small M and large bandwidth.

7. Please, see below plot and write how many poles or zeros in RHP of it’s transfer function

We can get the difference of the number of zeros and poles from the picture. The number of
encirclements of the origin is equal to the difference. We see that the origin is encircled 1 time,
so the difference is 1 according to Cauchy’s theorem. The number of poles is assumed to be 0,
then the number of zeros is 1.

8. Please, find compensator according to plot type and its advantages.

There are 2 types of compensators: Lead and lag

The provided bode plot is characteristic for Phase-lead compensator. It has a characteristic transfer
K 1∗1+ jwat
function of: Gc ( jw )=
1+ jwt
Here,

t = 1/p;

p = a*z;

K1 = K/a;
p is pole and z is zero of the compensator transfer function.

The advantage of it is that it adds phase-lead angle and efficient phase margin for the control system.

The disadvantage of it is that they are not designed for high-steady state accuracy.

9. Please, explain shortly transfer function determination from state-space equation.

To detemine the tf from the state equations, we assume that the system is Single input single output.

The state equations are:

x*=Ax+Bu

y=Cx+Du

Here x is state matrix, u is input, x- is determinants of state matrix and y is output. The Laplace
transform of these equations are:

sX(s)=AX(s)+BU(s)

Y(s)=CX(s)+DU(s)
−1
Modifying the first equation, we get: X ( s ) =( sI− A ) BU (s)
We replace the first matrix with f(s) and putting the equation for X(s) to the second equation, get:

Y(s)=(Cf(s)B+D)U(s)

Y
So, the tf is: =Cf ( s ) B+ D
U

10. Per given information, please build state feedback matrix.


A = [ 0 1 0 ; 0 0 1; -4 -1 -5] ; B = [0 ; 0 ; 1 ] ; C = [1 0 0 ], K = [k1 k2 k3]

State feedback matrix is:


A – BK

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