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By
Oladokun Sulaiman
•
Note
Revise :
• Differential equation
• Partial fraction
2.0 Objective
Input Output
Gc(s) Gp(s)
U(s) Y(s)
Sensor
H(s)
• Process or plant:
– System to be controlled including actuators and power amplifiers
• Sensor:
– Instrumentation that measures output and converts it to a signal
• Compensator or controller:
– System added to enhance performance of control loop
– Output or controlled variable is y(t) is the variable we wish to control
– Input is a measure of (but not always equal to) the desired system
output u(t)
– Error is desired output minus actual output: e(t)= y(t) - u(t)
test waveform
100 100
Force, N
Force, N
50 50
0 t1 t2 t3 t4
0 t1 t2 t3 t4
Time, second
Time, second
100 100
Force, N
Force, N
50 50
0 t1 t2 t3 t4 0 t1 t2 t3
Time, second
Time, second
Two step input response
Ramp Input Response
Time Constant
dny d n −1 dy
an n
+a n −1 n−1
+ +a1 +a0 y
dt dt dt
xi
xo Fs Fm
=
k m
FD
2
dxi dxo d xo
k ( xi − xo ) + c( − )=m 2
dt dt dt
2
d xo c d xo k c d xi k
2
+ + xo = + xi
dt m dt m m dt m
2.3 Physical system modeling
• To obtain linear approximation of physical
system Time response solution is obtain:
• Obtain the differential equation
• Obtain Laplace transform of the differential
equations
• Solve the resulting algebraic transform
2.3a. Laplace transform
Definition of Laplace transformation of
f(t): ∞ ∞
L[ f (t )] = F ( s ) = ∫ e −st dt [ f (t )] = ∫ f (t )e −st dt
0 0
xi xo
• Differential equation:
dx0
• For k =1,c = 1; k ( xi − x0 ) − c =0
dt
• Laplace transform d
x
c o
+
kx o =k
x i
• Partial fraction
d
t
d x o
+ xo =xi
d t xo(t)
s
1 1
X o (s) = +
s (s + 1) t
x0 (t ) = 1 − e −t
Transient response Steady-state response
•Control engineering system page 33
table_02_01
table_02_01
table_02_02
•Control engineering
table_02_02 system page 34
2.3b. Transfer Functions
• Defined as the ratio of the Laplace
Transform of the output to the Laplace
Transform of the input to the system
• G(s) = Y(s)/X(s)
• X(s) G(s)
Y(s)
Transfer Function
•The boundary, represented as a
• An assembly of linked "black box", may include a complex
system which need not be analysed if
components within a G is provided.
boundary. •More complex systems have
• The motor car is a good interconnecting links to related
systems.
example; mechanical, •A system must have input, process,
electrical, control and output, and in most systems a source
suspension sub-systems of power and a means of control.
within a body-chassis
boundary.
• A system may have one
input and a related output
dependent on the effect of
that system (transfer
function G).
•
θ 0 =Gθ I
Transfer Function Expression
Characteristics Equation
b1 S +b0
G (s) =
a 2 S +a1 S +a 0
2
Characteristics Equation
•Denominator of the transfer function equated to zero is the
characteristics equation of the system
•Characteristics equation of the system determines the
response of the control system
a2 S a1S + a0 = 0
2
Order of control systems
• Zero Order System
b1 s +b0
s 0 ( s 2 +a 1 s +a 2 )
b1 s +b0
• First Order System
s 1 ( s 2 +a 1 s +a 2 )
b1 s +
b0
• 2nd Order System s2 (s 2 +a1s+a2 )
(Source: Instrumentation and Control Systems by Leslie Jackson)
Poles and Zeros
• Roots of the Characteristics equation are called
poles of the system
Roots of numerator of the TF are called zeros of the
system
Example
2 s +4 s 2 +6 s + 5
1) 2)
s 2 +3s + 2 s 3 +6 s 2 +11 s + 6
• Fs= Fx or
Fs x Fs
x k
x1- x2
x1(t) k Fs(t)
+
• Block diagram Fs = k(x1 -– x2)
x (t) 2
4. Mechanical system: Mass
• Fm = ma Fm(t) x(t)
m
1
mD 2
• Fm = mD2x
Spring mass system
xo(t)
xi(t)
m
•
Equations:
• Fs = k(xi – x0)
• Since Fm = ma and Fs = Fm
• mD2x0(t) = Fs = k(xi – x0)kxi(t)xi(t)-xo(t)-+
xi(t) xi(t)-xo(t)
k
+
-
• x = displacement
• FD(t) = cdx(t)/dt
• FD(t) = cDx
Spring-damper system
xo(t)
xi(t)
Fm
Fs1 FD
∀ Σ F = ma
• Fs1 - FD = Fm
xi(t) Fs Fm 1 xo(t)
k 2
+
-
+
-
mD
FD cD
Spring Mass System
d2y
Accelerati ng Force =m
dt 2
dy
Damping Force = f
dt
Spring Force =ky
d2y dy
m 2
+f +ky = F ( Disturbing Force )
dt dt
( m s + fs + k ) Y ( s ) = F ( s )
2
Y ( s) 1
TF = G ( s ) = =
F ( s ) ms 2
+ f s +k
Example 2
fig_02_15
fig_02_15
( MS 2
+f sv+K) X( s=
) F( s)
•Or
fig_02_17
fig_02_18
fig_02_18
fig_02_20
fig_02_20
fig_02_21
fig_02_21
fig_02_22
fig_02_22
table_02_05
table_02_05
2.4b. Electrical system modeling
Electrical components: resistance R, capacitance C and inductance L
Variables: voltage V and current i
VR
+ -
• Resistor -> VR = iR
VL
+ -
Vi Vo
• CdVC/dt = i; VC = i/CD
• Vo = iR
-
L1
C
Equations: VA
i1 = i2 + i3 + i1 +
Vi – VA = L1Di1
i2
VA = L2Di2 Vi i3
R
Vo
L2
i3 = (VA – Vo)CD
Vo = i3R - -
i3
-
Vi Vo
1 i1 i2
L2D
VA
CD R
Block diagram +
L1 D
+ + i3
- -
VA Vo
• Subtitute i(t)=dq(t)
1
C ∫idt =e0
1 1
L s I ( s ) +R I ( s ) I ( s ) =E i ( s )
C s
1 1
I ( s ) =E 0 ( s )
C s
fig_02_05
fig_02_11
fig_02_11
2.3 Block diagram manipulation
θ 4=θ 2+θ 3 θ 1 θ 2 θ 4
F1(s)
θ 4 = F1(D)θ 1 + F2(D)θ 1 +
+
Y (s) G( s)
= U Y
U (s) 1 + G (s) H (s) ( G ( s) (
s 1 + G(s) H (s) s
) )
Close-loop transfer function = (Forward transfer function)/(1+ Open-loop
transfer function)
Example
• Derive transfer function forx spring-mass k
i
xo
+
system
2
mD
-
k
x0 = xi − x0
mD
2
x x
xo k i
k o
=
xi mD 2 + k mD 2 + k
Multiple-loop feedback control system
To eliminate G3(s)G4(s)H(s), move H2
behind G4(s)
Rule 4:
H2 H2 /G4
G4 G4