This action might not be possible to undo. Are you sure you want to continue?

BooksAudiobooksComicsSheet Music### Categories

### Categories

### Categories

Editors' Picks Books

Hand-picked favorites from

our editors

our editors

Editors' Picks Audiobooks

Hand-picked favorites from

our editors

our editors

Editors' Picks Comics

Hand-picked favorites from

our editors

our editors

Editors' Picks Sheet Music

Hand-picked favorites from

our editors

our editors

Top Books

What's trending, bestsellers,

award-winners & more

award-winners & more

Top Audiobooks

What's trending, bestsellers,

award-winners & more

award-winners & more

Top Comics

What's trending, bestsellers,

award-winners & more

award-winners & more

Top Sheet Music

What's trending, bestsellers,

award-winners & more

award-winners & more

Welcome to Scribd! Start your free trial and access books, documents and more.Find out more

**Dr. Hoam Chung Problem 1
**

(a) No, because 1) it is not symmetric with respect to the real axis and 2) the locus on the real axis is wrong (b) No, because 1) there should be locus between the leftmost pole and the zero 2) a pole starts from an open-loop pole ends at another open- loop pole. (c) No, because the root locus should exist between the open-loop zeros. (d) Yes. (e) No, because the root locus should be symmetric about the real axis. (f) Yes.

Problem 2

(a) The current system has a pair of poles at the origin, and the root locus is located along the imaginary axis. Most importantly, the root locus does not pass through −1 ± , and so gain adjustment will not move the closed-loop poles to the desired locations. (b) Assume the root locus passes through the desired points. From the angle condition φ+∠ Since ∠

1 s2 s=−1+

1 s2

s=−1+

= ±(2k + 1)180◦

= 0◦ − 45◦ − 45◦ = −90◦ , φ = 90◦ .

In Figure 1, P = −1 + , −1/(αT ) = −3.414, and −1/T = −0.586. Note ∠P OD = 45◦ , and the sine rule was used as in the lecture: √ OD 2 OC 2 = , = sin 112.5◦ sin 22.5◦ sin 22.5◦ sin 112.5◦ Finally, from the angle condition s + 0.586 1 = 1, s + 3.41 s2 s=−1+ K = 4.82, which ﬁnalizes the lead compensator. √ √ √ (c) The pole locate −1 ± gives ωn = 1 + 1 = 2, and ζ = cos 45◦ = 2/2. K (d) Step responses of the compensated/uncompensated are shown in Figure 2.

Monash University 2 Figure 1: Finding pole and zero of a lead compensator Figure 2: Step response of the compensated/uncomensated system MEC4418 S1 2011 .

571. Answer: Recall the drawing in the lecture slide: 1/T 4 1/(αT ) 4 = → 1/T = 2. Now. Let’s deﬁne s1 = −0. s+2 1 s + 8 s2 √ s=−2+2 3 =1 MEC4418 S1 2011 .808.546 s+1 Problem 4 (a) Compute desired poles from the design speciﬁcations. and therefore σ = 0. s1 + 1 s1 (s1 1 0. (c) Find the compensator pole and zero.546. φ = 60◦ .571 ± 0.38◦ is from φ + ∠(s1 + 2) − ∠(s1 ) − ∠(s2 + 2s + 1) = 180◦ (2k + 1) Since the pole is already located at −1. the desired closed-loop poles are at −0.571 − 53. the zero should go on the right side of the pole (closer to ω axis than the pole).08◦ = φ = 39.571 + 0.Monash University 3 Problem 3 (a) Since this is a lead compensator.707 gives ωn = 0.571 + z s + 0.546 2 + 2s + 1) = 1. K K = 0.335. we have Gc (s) = (c) From the magnitude condition. the zero may now be placed. −0. K and K = 32. = → 1/(αT ) = 8 ◦ ◦ ◦ sin 30 sin 90 sin 90 sin 30◦ (d) Compute the gain K. the desired poles are at s = −2 ± 2 3 (b) Compute angle deﬁciency φ in degree.571.571. 4 (b) Ts = ζωn = 7 and ζ = 0. From these. Answer: From φ − 120◦ − 120◦ = −180◦ . From the equation ∠(s1 + z) − ∠(s1 + 1) = arctan z = 0. The angle deﬁciency φ = 39. (s1 + 2) s1 + 0. √ Answer: From the speciﬁcation.38◦ . Answer: From the magnitude condition.

Here.327◦ .33.Monash University 4 Problem 5 (a) From the speciﬁcation.69 s1 +9. (f) In the following analysis. the desired poles are −2.5 ± 4. Ramp response shows good steady-state performance as desired.5◦ which gives OD = 2.3. φ = 55◦ (c) From the Figure 1. The angle deﬁciency can be found from the following: φ + ∠G(s1 ) = φ + 0◦ − 120◦ − 115◦ = −180◦ .9936 and −0.93 4 β . MEC4418 S1 2011 . From the sine rule. 9. 0.33.6547◦ . the closed-loop poles (that are supposed to be dominant) are little bit off from the desired locations.33 (b) Let’s set s1 = −2.3 G(s1 ) = 1 ≈ 11.69 s + 1/T2 1 .9874 and angle contribution −1.3 s + βT 2 (d) From the magnitude condition |K ss11+2.5 + 4.69 and OC = 9. The current compensator is in the form of Gc (s) = K s + 2. As shown in Figure 3.5◦ sin 87. respectively. but the maximum overshoot (40%) is too high (16% required)). (e) β can be obtained by Kv = 80 = lim sGc (s)G(s) = 11. the step response is also worse than desired (settling time (≈ 1.5◦ sin 32. s + 9.08 s→0 2.3 0. we have OD OC 5 5 = .3 K= 1 s1 +2. we assume that the magnitude of the lag compensator is approximately one. P = −2.5 which gives β = 2. Setting T2 = 5 gives the magnitude 0.5 + 4.092 . and φ = 55◦ .08. = sin 32. Therefore. we have +9. and T2 = 10 0.5◦ sin 87. we set T2 = 5.6 sec) is ok.8647.69 G(s1 )| = 1.

Problem 6 Figure 4: Step response of the compensated system. Problem 6 MEC4418 S1 2011 .Monash University 5 Figure 3: Root locus of the compensated system.

Monash University 6 Figure 5: Ramp response of the compensated system. Problem 6 MEC4418 S1 2011 .

Are you sure?

This action might not be possible to undo. Are you sure you want to continue?

We've moved you to where you read on your other device.

Get the full title to continue

Get the full title to continue listening from where you left off, or restart the preview.

scribd