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Transient Response Analysis: Test Signals: Impulse Step Ramp Sin And/or Cos
Transient Response Analysis: Test Signals: Impulse Step Ramp Sin And/or Cos
System Characteristics: Stability Relative stability Steady-state error transient transient steady-state
B2
C (s) 1 = R ( s ) Ts + 1
R(s) + -
E(s)
1 Ts
C(s)
C (s) =
1 1 Ts + 1 s
t T
1 T s sT + 1
c (t ) = 1 e
t _
t T
e(\
1 T
t T
t= 0
1 T
B3
c(t ) = t T + Te
t0
t_
t e(t ) = r (t ) c (t ) = T 1 e T
e(\) =T
B4
r(t) = (t)
c (t ) =
t / T
t_
4T
Output
c(t ) = t T + Te
c (t ) = 1 e
e t /T c (t ) = T
t T
t_ t_ t_
t T
B5
Observation: Response to the derivative of an input equals to derivative of the response to the original signal. Y(s) = G(s) U(s) U1(s) = s U(s) Y1(s) = s Y(s) U(s): input Y(s): output
G(s) U1(s) = G(s) s U(s) = s Y(s) = Y1(s) How can we recognize if a system is 1st order ?
System
c(t)
Plot log |c(t) c(\ If the plot is linear, Explanation: then the system is 1st order
c (t ) = 1 e
t T
c(\
4 0-t/T |=
t T
B6
R(s) -
K s (Js + F
Transfer function:
C(s) K = 2 R(s) Js + Fs + K K J = 2 2 F F K F F K s + + s + 2J 2J 2J J 2J J
B7
n
F J
=
= 2 n
F 2 JK
n:
to obtain
n C ( s) = 2 R ( s ) s + 2 n s + n 2
2
Critically damped .,80 F - 4 J K = 0 Overdamped .,80 F - 4 J K > 0 two real poles two equal real poles
B8
Im
n 1 2
n
n
jd
Re
= cos n
d = n 1 2
n : d : : undamped natural frequency damped natural frequency damping ratio
B9
n s + n 1 C(s) = s (s + n )2 + d 2 (s + n )2 + d 2
c(t ) = 1 e
r
n t
cos t + sin d t d 1 2
t 0
c (t ) = 1
1 n t e sin ( n t +
2
)
1
t 0
n t
= tan
cos t + sin d t d 2 1
t0
1.0
0 1 2 3 4 5 6 7 8 9 10 11 12
B10
&3/,250/ .,80
Unit step response:
c(t ) = 1 cos n t
t0
7 9 ., /,250/ .,80
Unit step Response:
2
R(s) = 1/s
2
n n C ( s) = 2 = R ( s ) s + 2 n + n 2 ( s + n ) 2
1
C(s) = s (s + )2 n
c(t ) = 1 e n t (1 + nt )
t0
B11
;07/,250/ .,80
Unit step Response: C(s) = R(s) = 1/s
1 s + n + n 2 1 s + n n 2 1 s
)(
t 0
with
s1 = +
s2 = 2 1 n
if |s2| << |s1|, the transfer function can be approximated by
s2 C (s) = R(s) s + s2
and
c (t ) = 1 e s 2 t
with
t0
s2 = 2 1 n
B12
B13
td delay time: time to reach 50% of c(\ 1or the first time. tr rise time : time to rise from 0 to 100% of c(\
c (t p ) c ( ) c ()
tp peak time : time required to reach the first peak. Mp maximum overshoot : ts settling time :
100%
time to reach and stay within a 2% (or 5%) tolerance of the final value c(\
0.4 < < 0.8 Gives a good step response for an underdamped system
B14
Rise time tr
1
2
sind tr ) =1
cos d t r +
1
2
sin d t r = 0
d 1 2 t = = tan d r
tr = 1 tan d
1
dc ( t ) dt
t=t p
= 0
(sin d t p )
n
1
2
n t p
=0
sin d t p = 0
tp =
B15
( ) M p = c(t p ) = 1 en / d (cos +
1
2
sin )
=e
n d
= e
1 2
= e
ent
env ( t ) = 1 e n t 1
2
2% band:
ts =
4 4 = n
5% band t s = = n
B16
5T
4T
3T
2T
B17
n 2
s 2 + 2 n s + n 2
R(s) = 1
c(t ) =
e n t sin n 1 2 t
t = t0
tan t0 =
1
t0
1 1
2
B18
c (t ) = n te n t
2
t0
c (t ) =
where
n
2
2
e s1t
n
2
2
e s2t
t0
s1 =
s2
( =( +
2
2
) 1 )
1 n
n
B19
Remark:
n
2
2 2
s + 2 n + n
1 s2
R(s) = 1/ s2
2 n
B20
Examples:
a. Proportional Control
R(s) + E(s) K
1 s (Js + F )
C(s)
n C ( s) = 2 R ( s ) s + 2 n + n 2
2
with
K J
n
= n
F 2 JK
F J
=
For good transient response: 0.4 < <0.8 acceptable overshoot good settling time
n
sufficiently large
2 2F = n 2 K
F = K K
large K
Large K reduces e( ) but also leads to small and large Mp compromise necessary
B21
R(s)
+ -
E(s) Kp+K/s
1 s (Js + F )
K p + Kd s C(s ) = 2 R(s ) Js + (F + Kd )s + K p
with
=
F + K 2 K
p d
K J
and at steady-state:
e ( ) = lim sE (s ) =
s0
F Kp
using
z =
K K
p d
C (s ) n s+ z = 2 2 R (s ) z s + 2 n s + n
2
For small steady-state error in ramp response For good transient response
Kp large
B22
K Js + F
1 s
Kh
Transfer function
(s) K = 2 R ( s ) Js + (F + KK h )s + K where
=
n =
F + KK 2
K J
KJ
e( ) =
F K
For small steady-state error in ramp response For good transient response Remark:
K large
The damping ratio can be increased without affecting the natural frequency n in this case.
B23
C (s ) n s+z = 2 R (s ) z s + 2 n s + n 2
2
= 0 .5
B24
0<<1
R(s)=1/s
e pt ent c(t ) = 1 2 ( 2) +1 2 ( 2) +1
0.5
The effect of the pole at s = -p is: Reducing the maximum overshoot Increasing settling time
B25
C (s) =
(s + p ) (s
q r j j =1 k =1
i=1
+ 2 kk s + k
1 s
0 < k <1
k=1,,r
and
q + 2r = n
c(t ) = a + a j e
j =1 r
p jt
2 + bk e n k t cos k 1 k t k =1
2 + ck e k k t sin k 1 k t k =1
t0
B26
STABILITY ANALYSIS
G (s) = B (s) = A(s)
bs
i
m i
a
i=0
i=0 n
s n i
Conditions for Stability: A. Necessary condition for stability: All coefficients of A(s) have the same sign. B. Necessary and sufficient condition for stability:
A( s ) 0
for
Re[s] _
or, equivalently All poles of G(s) in the left-half-plane (LHP) Relative stability: The system is stable and further, all the poles of the system are located in a sub-area of the left-half-plane (LHP).
Im
Re Re
B27
= a 0 (s + p1 )(s + p 2 )...(s + p n )
-p1 to -pn are the poles of the system. If the system is stable all poles have negative real parts
Examples:
A(s ) = s 3 + s 2 + s + 1
A(s) = s3 s2 +s +1
Stability testing
Test whether all poles of G(s) (roots of A(s)) have negative real parts. Find all roots of A(s) Easier Stability test? too many computations
B28
0 1 b1 c1 e1 f1 g1
2 4 3 5 b2 b3 c2
e2
1 a0 a2 a1a2 a0 a3 = b1 = a1 a1 a3 a1
b2 = c1 = 1 a0 a4 a1a4 a0 a5 = a a a1 1 5 a1 1 a1 a3 a3b1 a1b2 = b1 b1 b2 b1
etc
B29
0 >0, 0 <0,
1 > 0 , 1 < 0 ,
2 > 0 or 2 < 0
For 2nd order systems, the condition that all coefficients of A(s) have the same sign is necessary and sufficient for stability.
A(s) = 0 s3 + 1s2 + 2s +3
s3 s2 s1 s0 a0 a1 a1 a 2 a 0 a 3 a1 a3 a2 a3
0 >0,
1>0,
3>0,
12 03 > 0
B30
Special cases: 1. The properties of the table do not change when all the coefficients of a row are multiplied by the same positive number. 2. If the first-column term becomes zero, replace 0 by and continue. If the signs above and below are the same, then there is a pair of (complex) imaginary roots. If there is a sign change, then there are roots with positive real parts. Examples:
A(s) = s3 +2s2 + s +2
s3 s2 s1 s0 1 2 0 2 1 2
B31
3. If all coefficients in a line become 0, then A(s) has roots of equal magnitude radially opposed on the real or imaginary axis. Such roots can be obtained from the roots of the auxiliary polynomial. Example:
dp( s) = 8s 3 + 96 s ds
8 96 s3 24 50 s2 0 s1 112.7 s 0 50
A(s) has two radially opposed root pairs (+1,-1) and (+5j,-5j) which can be obtained from the roots of p(s). One sign change indicates A(s) has one root with positive real part. Note:
B32
Relative stability
Question:
1742 9
Im
Re
G (s)
Question:
Apply the Routh-Hurwitz test to the denominator polynomial of the closed-loop transfer function
KG ( s ) 1 + KG ( s )
B33
C(s) G(s)
H(s)
Evaluate the steady-state performance of the closed-loop system using the steady-state error ess
ess = lim e(t ) = lim sE ( s )
t s 0
E (s) =
1 R ( s) 1 + G ( s) H (s )
Assumption: the closed-loop system is stable Question: How can we obtain the steady-state error ess of the closed-loop system from the open-loop transfer function G(s)H(s) ?
B34
Static Position Error Constant: Kp Unit step input to the closed-loop system shown in fig, p. B33.
R(s) = 1/s
ess = lim sE ( s ) =
s 0
1 1 + G ( 0) H ( 0)
Kp = K Kp= \
1 1+ Kp ess = 0 ess =
B35
Static Velocity Error Constant: Kv Unit ramp input to the closed-loop system shown if fig, p. B33. R(s) = 1/s2 Define: Type 0 system Type 1 system Type 2 and higher
ess = lim s 1 1 2 = lim s0 1 + G ( s ) H ( s ) s s 0 sG ( s ) H ( s )
K v = lim sG ( s ) H ( s )
s0
Kv = 0 Kv = K Kv = \
Ka
Unit parabolic input to the closed-loop system shown in fig, p. B33 R(s) = 1/s Define: Type 0 system Type 1 system Type 2 system Type 3 and higher
3
ess = lim
s 1 1 3 = lim 2 s0 1 + G ( s) H ( s) s s0 s G ( s) H ( s)
K a = lim s 2 H ( s ) G ( s )
s 0
Ka = 0 Ka = 0 Ka = K Ka = \
B36
C(s) G(s)
H(s)
K v = lim sG ( s ) H ( s )
s0
K a = lim s 2 H ( s ) G ( s )
s 0
The steady-state error ess is given by: Unit step r(t) = 1 Type 0 Type 1 Type 2
ess = 1 1 (= ) 1+ K p 1+ K
ess= 0 ess= 0
ess= 0
B37
Correlation between the Integral of error in step response and Steady-state error in ramp response
R(s) E(s) -
G(s)
C(s)
E(s) = L[e(t)] =
e st e(t)dt
s0
st
e(t)dt =
e(t)dt
substitute
E (s) =
lim
s 0
R(s) 1 + G (s )
R( s ) 1 + G(s)
e(t ) dt
0
step : R (s) =
1 s
e(t )dt =
lim
1 1 1 = = s G ( s) 1 + G ( s) s s 0 s 0
lim
1 = KV
essr =
e(t)dt
B38
c(t)
e(t )dt