Professional Documents
Culture Documents
1.1
reference sensor
actuator
plant
output sensor
Example: room-temperature control - in the house e.g. disturbance = open door thermostat compares desired and actual temp. where to site? electrical signal from thermostat actuates furnace usually on/off heat from furnace is greater than heat loss Example: cruise control
road condition
desired speed
engine
car
speedometer
For more examples see Tutorial sheet 1 the problem of going from physical system to equations not generally considered Control 1
Laplace Transform
2.1 Properties of linear constant systems = linear time invariant (LTI)
2.1.1 Superposition If input can be expressed as sum of signals then the response can be expressed as the sum of respective individual responses
u 1 y1 , u 2 y 2
u1 + 2u 2 = 1 y1 + 2 y 2
2.1.2 Convolution Response of a linear constant system is the convolution of the input with the unit impulse response of the system 2.1.3 Impulse response
f (t ) =
f ( ) ( t ) d
thus function is represented as sum of impulses if h(t,) is is the response at t to an impulse applied at response to unit impulse
y(t ) =
u ( ) h ( t ) d
y(t ) =
h ( ) u ( t ) d
(convolution integral y = u * h)
Control 2
2.2
Transfer functions
y(t ) =
h ( ) e s ( t ) d
= H(s) est
assume a solution of this form exists and substitute without computing the integral
e.g.
y + ky = e st
where
& = dy / dt y
st
differentiating
y(t ) = H(s)e
y = sH(s)e
st
H(s) = 1
2.3
s+k
st e y=
s+k
F (s) =
f ( t ) e st dt
Control 3
Control 4
2.4
Superposition L {f1(t) + f2(t)} = F1(s) + F2(s) Time Delay function f(t) delayed by units of time F1(s) = e-s F(s) Time scaling by factor a f(at) f(t-)
1 F( s ) a a
F1(s) = F(s+a)
Differentiation L{fm(t)} = smF(s) - sm-1f(0-) - sm-2f1(0-) - ... - fm-1(0-) zero i.c. Integration s2F(s) for second order m=2
1 F1 ( s ) = F ( s ) s Convolution
L {f1(t)*f2(t)} = F1(s)F2(s)
Note: 1) multiplying LT much easier than convolution 2) in this course Int. and Diff. properties most important
Control 5
2.5
F ( s) =
b1 s m + b2 s m 1 + s n + a 1 s n 1 +
K+ b K+ a
m +1
= K
m i =1 ( s z i ) n i =1 ( s p i )
F ( s) =
C1 C2 + + s p1 s p2
L+ s C p
n
C i = (s pi )F (s)
s = pi
f (t) =
i=1
C ie
pit
1(t )
if poles p1 and p2 are distinct and complex p1 = p2* and C1 = C2* ie complex conjugate
F ( s) =
C3 C1 C2 + + + s p1 ( s p1 ) 2 ( s p1 ) 3
1 di = i [( s p1 ) k F ( s )] i! ds s= p
C ki
Control 6
2.6
lim y( t ) = lim sY ( s )
t s 0
2.7
2.8
example
+ y(t ) = 0
s 2Y ( s ) s + Y ( s ) = 0 Y ( s ) =
s
s +1
2
s +1
2
Control 7
Control 8
Control 9
Pole Locatioons
H ( s) =
1 s +
if >0 response is stable with time constant = 1/ when response is 1/e times initial value
Fig. 3.7 First order system response 1 0.9 0.8 0.7 0.6 h(t) 0.5 0.4 0.3 0.2 0.1 0 0 0.5 1 1.5 2 2.5 time t (sec) 3 3.5 4
e-1
t/ secs
LHP
Decreasing Oscillations
Increasing Oscillations
RHP
Decreasing Exponential
Increasing Exponential
Control 10
3.1
Consider complex poles s = - jd corresponding to factor (s + )2+ d2 which can be written in standard form (assume no finite zeros and 2 complex poles)
n2 H(s) = 2 2 s + 2ns +n
Equating coefficients = n and n2 = d2 + 2
d = n(1 - )
2
=sin-1 n
Im
n2 H(s) = 2 (s + n )2 + n (1 2 )
Impulse Response h ( t ) = Tables:
Re
n
1
2
b e at sin bt where b = d a = n= 2 2 (s + a) + b
1 Step Response ( ) = s
1 e t (cos d t +
sin d t ) d
Control 11
= 0 1
6 Wn t
10
12
= 0 1
6 Wn t
10
12
Fig. 3.14 Second order system response showing exponential envelope. figure 1 0.8 0.6 0.4 0.2 h(t) 0 -0.2 -0.4 -0.6 -0.8 -1 0 5 10 15 time t (sec) 20 25 30 <--- -e^(-sigma t) e-t <--- e^(-sigma t) e-t
settling time
Control 13
time to approach final value e.g 10 - 90 % time taken for transients to decay e.g. 1% overshhot divided by final value
tp 0.9
Mp
0.1
tr
ts
tr
1.8
Control 14
1 e t (cos d t +
t
sin d t ) d
tp =
Mp =e
=e
1 2
100
Mp versus figure Fig. 3.17 Mp vs. zeta for a 2nd order system. :
n s
4.6
0.6 zeta
0.8
n ts
= 0.01 t s
4 .6
n
Control 15
A zero near a pole tends to cancel effect of the pole e.g. if C 1 = ( s p1 )F ( s ) s = p and F(s) has a zero close to p1 C1 is small
1
Consider H ( s ) =
s / n + 1 ( s / n ) 2 + 2 ( s / n ) + 1
indicates closeness of zero to pole
Step response with =0.5 figure: Fig. 3.20 Step response with zeta = 0.5
1.8 1.6 1.4 Step response of H(s) 1.2 1 0.8 0.6 0.4 0.2 0 0 2 4 6 Wn t (rad/sec) 8 10
Increasing
H ( s) =
1 (s / n + 1)[(s / n )2 + 2 (s / n ) + 1]
figure: Step response extra pole extra =0.5 pole, zeta = 0.5 Fig. 3.25 Step response with
1.2
0.6
0.4
0.2
4 Wn t
Control 17