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Lecture 16 & Next Part
Lecture 16 & Next Part
Module 3- Lecture 16
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
ThisLectureContains
OpenandClosedLoopTransferFunction
GeometricInterpretationofaTransferFunction
EvaluationofaTransferFunction
RulesofRootLocus
Module 3- Lecture 16
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 3- Lecture 16
KG ( s ) H ( s )
KG ( s )
1 KG ( s ) H ( s )
G(s) given, H(s) Given, Select the Gain K and vary until you receive the desired
response.
response
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 3- Lecture 16
T (s)
( s z0 )
( s p0 )
rp
rz
p
p0
z
z0
Thepoleandzeroareplottedinthesplaneasshown.Themagnitudeof
the transfer function is the ratio of the zero and the pole length (rz /r
thetransferfunctionistheratioofthezeroandthepolelength(r
/ rp )
)
andthephaseofthetransferfunctionisZ p .
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 3- Lecture 16
( s 1)
F ( s)
s ( s 2)
Evaluate the function at a test point s = -3+j4, i.e. find out the magnitude and
phase of the transfer function at the test point.
Following
g the geometric
g
technique
q or using
g simple
p complex
p
algebra
g
you
y may
y
find out that :
Zero length - 20, z = 116.60
Pole at Origin: Pole length 5, p1 = 126.90
P l att -2:
Pole
2 P
Pole
l length
l
th 17,
17 p2 = 104.0
104 00
Magnitude of the transfer function:
20
F (s)
0.217
5 17
Total Phase = 116.6
116 6-(126
(126.9+104)
9+104) = -124
124.6
60
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 3- Lecture 16
1 KF ( s ) 0
1 KG ( s ) H ( s ) 0, Or
F ( s) G ( s) H ( s)
1
Or F ( s )
K
ThephaseconditionforF(s)is
1
j
statedintheequationbelow
q
Also F ( s ) F ( s ) e F ( s ) , F ( s )
whichisfurtherusedfortheroot
K
locusplot.
<F(s) = (2k+1)1800
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
If
F(s)
(s zi)
i 1
n
(s pi )
i 1
Z
Zero
F ( s)
Pole
F ( s ) Zero
Lengths
L
h
Lenghts
angles Pole angles
Module 3- Lecture 16
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Numberofrootloci
Numberofrootloci asmanyasopenlooppoles
Originatpoles
Root Locus of the Open Loop Transfer Function
Module 3- Lecture 16
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Symmetryalwaysabouttherealaxis.
m open loop poles to finite zeros
Termination as K mopenlooppolestofinitezeros
Oftheopenloopsystem,nmnumberofpolesapproachzeroesatinfinity
Oftheopenloopsystem,n
mnumberofpolesapproachzeroesatinfinity.
Module 3- Lecture 16
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
RealaxisSegment: Rootlocusexistsontheleft
RealaxisSegment:
ofanodd numberofrealaxisfiniteopenlooppolesandzeroes
Module 3- Lecture 16
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 3- Lecture 16
JointInitiativeofIITsandIISc Fundedby
MHRD
11
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 3- Lecture 16
JointInitiativeofIITsandIISc Fundedby
MHRD
12