|B Consider gun l rooted un sso de certo cen elnetain utr ox a 1000 oO = 10) ‘Seal conte an sre un colada alan da. Liars ee icone Deterine es vores do ay T prague el ao do Gs) cancel code Gx) en 5 ‘stor dota debe er una, Encore atibue darespasa lesen untae sito Geefate 10-22 (a) Forward-puth Transfer Function: a(e#10)(1+75) senn(-F] 6) =6,96,0) Set Ua? =100 Gun eae of C(5)a's=-10%s ance Thecunowisc uate of hepsi Satstioo <0 T 3. El proceso cotoado de un sistema de conto con realimentacén unit K GAs a ss 45) El controlador en serie ene la funcibn de tansferencia: l+aTs os) 14Ts Disefe un contlador de adelante de fase (a> 1) para que las siguientes especifcacones de desempefo se satsagan: Constante de erorrampa Ki = 10, Sabrepaso méxime préximoal minim Ei valor de a no debe exceder 1000, Dibue la respuesta al escalon nia y de sus atibstos,2a [Wid = 25 he tem vio comperation is macy solle Fer 3> 1 sect sal ae ir Tindb ngewe ar 3 La)= 100 Te flown mss we Oana vaio hs of ‘negig fom 0.0010 OO. When T'=0000 te mana ovesboot er mina ot. TJ Wax Oversioat T z ee) se) 0) 0 3s Tomo Oa rT Be a De ‘008 Bo ‘1 On 008 tes 01688 Os TT as ISS t 10001 ae 02536 23 100 smear opi ihr rower afr 2 eve np ovo. Astrumsout2=1000ismaropoa A bier er ower ahe a 2 wl provi Unitstep Response44. El proceso contlad de un sistema contol con reaimentacién untae: a G6) = —* nO ay El contador en seri ten la funcion de tranterenci: Le als G0) = O- Tt sete un conor de arse dae (0) pare que lns squires apeccaones de desempa sstistagan: Cendane de erermpaK.=10, Tempo eleraiameno <2 Sobpisomisims< par cero Tmpo de alan <2. |B) Deterine os valores do K. Ts y Ts del sit de la Fgura tes ae las pols dominates en lize corado trgan el for de ‘amorquamiro relate €=05 ya feces natural ro emeriqueda tn = 3a x Tart nm € iol met86-15. the sutstion to such a peoften ie mot unicos. We simil present two SSteettee to fe protien in-ubet"foltovss “Note tine trom the reqeizeae ‘Stated in the problen, the dominant closad-Ioop poles ast have $= Oc ad Wy = 3, oF Sanh bi ASI/ Notice that the angie deficiency is Angie deficiency = 180° - 120° - 100.894"= ~ 40.894" Upthed-2s | If ve choose the moto of the lend compineator ab a «2 #0 that ib ‘cancel the Plant pole at 8 = 1, then the compensator pole must be located weoe 3, or 6) =k Heth. KE st ka _ st] 400K eel Te see J 8 ox =3¢ Sth. Gel) = 3K StL he valee of K can be detecniond by iave of the mgattade condition. stl fo 3K Sea Sts4D _ Seeger s(s43) nap Se-Lsrjesty stl Gets) = 0.9 Eth ‘The open-loop transfer function is ce st Gl) = OP SEE ‘The open-loop trensfer function 1a. !010Peason Educaion, ne Uper Sade Fiver NJ. Al rhs reserved Ths publeatn ecected by Copy and writen pemission shouldbe ‘hel fone pblshe rr to any pohted reproticton. strain a ere sien cr Warsmissinm anyfow oy any ears. Ceara. Rie pony crag tems Fr ueraon gwang beeen) wks Re Paes Depa” 4090) = soo ‘The closed-loop transfer fmction C(s)/R(s) becues as follows: = 4 #6) SPLISH? (© Dito! sens de contol dis Sg, saa un compensa aqua a conta 6 oor eticn de lose K 48 de 20a FF de un pad pcos compas canigadoe an ao ceed, ‘qe se modsqu de frmaretablelaubcactn eign s = ~ 16 6) +a)Sth tle ‘The two closed-loop poles are Located at «= -2 + J2[3. Choose a lag compen setor of the following form: Ke = Lio 366060) = Lie hw sk th. 4 see S437 FSA ‘The pole and zero of the 1ag compensator must be lovated close to the origin. Tat us choose T= 20. ‘Then, the lag compensator becomes Gee sth _ _stees fe = s: + ae stae/s Notice that steer! = $40.07 | rece jes FPSO. $2 | = Levering - /-20+j28 542.07 . penetjee 6a. 628) "+ 60./2%2° =— 0.4979" 2 anon Ets ne Upper Side et NJ. Ags rsened Ts aati 2 pteby Copy anata prin tod be homiv osne sat. ry pwede nope haat sath o Sutsnase ay ern ye eer ing vanes resort avaragyisscn wes Reps rs Pemabes xp ‘The sage is 50 dip0") ade HgnltGas cfGa(o) do oppcacimntaly mity ot the Ueclied Glosediooe Hence, the designed tag conpensator is satiatactory. Tne 98) = oF ‘et us compare the untt-step response curves of the uncompensated and SSE eywtame. The clovod-loop traneter function of the ucompenented = 4« * Fp tse or the cospenanted ersten the closed-toop taster function is aC Bsr 02s) RG) Cerne) (548) £16 (84098) Beto S+ Rol S* + 6085 +08| Dado sistema d contol de a figura, dseha un compensader de alana tl que los polos dominant on az a LS CO" sos S17. The angle deficiency at the closed-loop pole.s°= -2 + J2 V3 is 190"- 120° 907= - 30° ‘he ‘ead compensator mst contribute 30°. et us choose the vero of the lead compensator at s = -2. Then, the pole of the compensator must he located at #= =. Tims; Ke SEE Gl) =k $8 citnacgntn t-te conarniond cn the magna conto “pf rcpt hha SEI Rete pap yp teat na mata ky ray aoe Sai area agp pe olan han Pacer eaban pn Soren tes = SHE S0ass4D|se-2ejee =! « x= [2532 a76 2 Nsxn26je Gels) = 16 848.Next, we shall obtain unit-ctep reoponses of the componsatéd eyetan. the original syoten tas the Geltowing choses incr ects fer function: & ROY = S*t25400 ‘The compensated system has the following closed-loop transfer function: 4 RE) Se este ‘The mit-step response curves of the original system and compensated system aro Untetprepormonct eg aye sonpenscted yen st ® Dadocl sistema de contol dea figura, sear un compensador tl que la curva de respuesta ante una entrada escalénunitaro exhiba un ‘sobrepaso maximo del 25% 0 menar, yun tempo de establecmiento de 5 segundos o menos +) Gs) -9|Gs) == ! > (+4)6-23. ‘me firet step in the desicn of the compensator is to choose the Sealed closed-loop pale locations. Considering tha open-loop poles of the Sa-ttjg (08 couree, other choices can be wade.) With the prosent choice of the doa ant Closed-icop poles, ve my chocoe the compensator to hawe a sero at = = <4 10 Fearon Etnestion, opp Sale Rat A). Alrertenad Th pibeatn'sptecacty Cong an wren parson st 6 detonate pe bar ro oe Hoe Ta gg tarantino ‘ae Eldan Upper Sate ce UOTE Gols) = Ke GHB S+D Sth bare the compensator pole at s = -b nes be determined based on the angle deti- clency. Tho angle deficiency te Angie deficiency = 180° ~ 195°. 135° + 126.0600" = 36.9609" From the dlegrain ‘The compensator pole mst provide an angle of -36.0699° given Relow ve find b to be ~9.3533,LA mF ~433 se ‘Then, the compensator G_(e) can be given by stencs+s) Ge) = KS gage ‘The open-loop transfer function becomes 20 follows: = —Kesee(st) Kk os4/) $0066) (84 23233)5*Cs4+e) — S*(54 9.2833) ‘The value of gain K con ba determined froa the magnitate condition: K(s+1, 3* (s+9.5333) Ka] 824835395" ste Semetse ‘Te value of gain K can be detenined easily by use of MATLAB. See ‘the fol- owing WOLD program: =/ SER ete16 ***** Dewerminaton of gain K ** a=1. 93333 0 oF bent Hence, the compensator becomes as follows: Gels) = ¢2.kégs~ EE + 2 SR 7333 ‘The closed-loop transfer function of the Gesigned systen becomes 35 wo $2 M6S 5 + 8668S : Ror” SUR R IRIE Te TPE LES TROTTER ‘The folloving MMILAB program profsces the ult-step response curve, wich is show below. ‘% *59°* Unietap response +++ ume = [0 0 42.6885 42.6666), donc = [1 9.3333 42.0068 42.6655: Unit Step Response of Compensatad Syswem (Problem B-s.230')1010 Pearan Education ne Upper Sade Rie NL. Al igs sere Ti piconet by Copygh an ritenpmiccon she ‘Sed tm pba pro ay rnb repvaucten, sage na vey sft, farsa nan co) ay eas eee, Rect pny. ewan Pimoanen re Piste gh anc Perens Depart ‘The cloeed-100p are located at 6 = een. een! = poles 4 J and 6 = 1.3333 as seen’ from (00) Dado l sistema de control dela figura iseir un compensador fal que la constante de errr esidco de velocidad K, sea de 5) seg’ sin [Gy ws ee defo ole icain og» = -2:+ j2/3 deungar eps camp conn ena cerad, 10 + Gis) |-¥G(5) = - > s(6+2)645)- ee Cree) Cr) +B )6+ Fe) cS) “ ‘he dostrad elosnd-toop poles are iocnted at Sa-2tjevy and the static velocity error constant: K, is specified as Ky = 50 sect he cpm-toop trineter function of the compensated system 1s Bez GbI= Ke eolapeone Eaton te, Unge au as i. Aghrse Tsp pty opin tn eon he Sbiained fon fe patsne’ per amy reed epaciton orge aie aysem of ravanosor Bytom by 2 ew. Ceo Src ag ag hana ean egeonaggussoo wes Rpts ans"ahsss Ce GL)GE) © OAoz) S(S#2) (StS)kom By © G00)G0) = Lim ke 2 2 ke = 50 Ke =S0 ‘The time constant Ty and the value of f are determined from the requirements hat sed =/ S(st2z)C3ts) — | sox ro aa 77.1066" = Ab. = a5 saree jes ‘The angle 79.1066* comes from the fact that the lead ‘must compensate: ‘the angle deficiency which is version Angle éeficiency = 180" - 120°- 90° 49.1066"= - 79.1066" See the diagram shown below. ao J ™sing trigonometry ve find the locations of the sare and pole of the esd Pictien cf the cmpeanter ns Sane ple ‘©2010 Peaoe encom. me Upr Sande ver. Arges. Ts pinion preety Corin art wrt persion steus tz Stianed fone pater pay peace epson, Soe ace si tarsi Fay hn ebay Mes, Se, ec eepyg mang ecw ean rgntg maga) wi ge ns Poorer apoio ae 5+ __sezzie9 sat St272u % Tew egse?, Bmie.2i¢ ctaTOE OP 20a portly we may ctoome = 10. than, the lag portion my be sth seas st ae S+0.00 8/89StH S40. ce s 1 fe (SteeoseF Motice tat set } Star | as ~Vsq noe t7F, St Br | so-esjear sr eeetiTh Senet jr = A988E stt vis = hie? ani | senrtjint The changes caused by the 1ng portion are quail and acceptable. Hence the ng-load compensator can be given by Sravsg 540.) G60) = 50 ep cat Searott Th ‘The compensated eysten vill imve the open-loop transfer function i = elsrece7)(sta) _. “ %0740) (stapace )(stoe0se) $(8+2)(S4+5) S0OS* + USF.3E5 O93 SPH SR MISS* + 20008705" +272, 2860S 2.21088 ‘The closed-loop transfer fonction becwses aa follows: We termes pote gery 96 ences S0OS* +1159. 35-5 MOVIES SEILMISS* + 200.28708" +272, V9GES + 22/864 ‘The closed-loop transfer function becomes as follows: Co) S20 S* + USP. IES +110. 99S RO) S94 IBS 4 200.0590 5? + 972-2862 8° 1/bh SEE FOIA 2010 Pearon Edveston ee. Upper Sole Rive, NJ. Al ightsreered This pubes prolate by Coprightnd writer peminin shoué {Shed fom te patton’ pre ary poneted reprosuon stage m arerera etm er tanamszor may om cy aj Pea aceon “Sic tigger Rene ton regoongpempan ws higuean "amano Caen'* Unit-step response *' lO BEES 7 HOSE 1.908 110.069 Ihe reaulting unit-step response curve is stom below: tn cap Renee temper . T “H. Consiere al sistema de conel de a figura. Diseie un compensador tal que la cura de resquesta escalénunitarioexhiba un sobrepaso maxim de 30% 0 menory un lem de asentamiento de 3 segundos o menos. Q22010 Pearson Eevcate. ne Usp Sooge Rr Al ros reseree Ts phan tte by Cepia weer DerMSSEn Soule DE ‘ees tom hpi ptt ary pred reac scape aetcn san tarsus nny act oy eas SECS est temp cing oe Fries pein rems re wee gh ans Femanone BopncsFrom this diagram wé.find the zero of the compensator to be at's = -10.2057. ‘The compensator thus can be written as Gel) = K C710, 2857) ‘The foedtorvard trenifer rection becomes Gel GG) = EEEri2859) (as +/) SE DCse2) ‘The gain K con be determined from the mgnitoie condition: K(stve2ts7)(25t1) S054 542) rene ka | Setar) Steere 2547] se arpr ‘The evaluation of this K can be made easily by use of MATAR. ‘The following ‘MATIAB program produces the value of K- ‘Determination of gain constant K ***==rere 28 Ada one EERE ce anna re a Bence, the compensator becomes as follows: Geb) = 73604 (54 10.2857) The closed-loop tranafer function becumes a8 ‘io reasen etn Upper Saad Ret NY. Agns eee. Ts okesn st ty Copia ren ems sro te Ineo hs sbene sy pened praion ore aval tone ny erm = my oe ens ‘Snes, phtcepyingreceng, or Inewae. Far curation regerdingggusscr=) te: gh ard Putoasons Ceparten, ‘Sonveaton In” Upoe Sai Rie” NUOTASE aa LE) _ _ A923 68 S* 4/889 $675 + O50840F RE)” S44 RAPSOF S*47.8 PRPS tASTIF/S ‘The folioving MAB progran vi11 profuce the uit-step response carve, fume = 10 1.47368 15.09407_ 7.576015: donc = 1 447908 17.8007 7 S90STE t= 00.015; 8789181 :we bene rere rt necerre ‘The following MATEAB program vi11 produce the unit-step response curve. ** Unitstep response men tne jeer Ss LAS Mase ame U8. tape Compe Pati 22) EN DOMINIO DE FRECUENCIA (89) proceso contolade de un sistema de conto con eaimentacién untae: K Gls) 5 Qo s45 B controlador en serie ene I funcion de transference Leal GAs) ‘ 1sTs Disfie un contlador de adelanto de fase en e dominio de a frecuencia para que las especicaciones de desaripefo sigue se satsiagan Constante de ero rampa Ky = 10, argon de fase proximo al maximo, + Elvaorde ano debe de axceder de 1000Design of Phas (b) Frequency-dom: lead Controller 250(1+a7s) (545) (1475) Setting a~ 1000, and varying I, te fllowing atuzbates are obsined. ea) = T PM ™, BW (de) (radisee) OT ais Tale 1605 0.00080. 3285 1368 14.15 0.00085 30) Tass 13.16 ‘0.00020 38.60 131i To.o8 When = 1000, due best value of Tfor 2 maxinuan phase marci i 0.00035, mad PM= 43.3 de Acai tara: out varying the value of fom 1000 dots not umprove the phace angi. ‘Thus the ‘eur function oft coutolle is 249 249 Lhals 140355 250(1+0.35s) es 5) = 0 095s) 11s 1+0.0035 5 5(5+5)" (1+0.00035s) (8 Considere que el proceso de un sistema de control con reaimentacicn untaria es: 1000 Gy(s) = ————— a HO) 10) ‘Sea el controlador en serie un controlador de adelanto de fase de etapa Unica. Tals G(s) = a>l 3) 14+Ts Realce el disefo en el dominio de a frecuencia empleando las trazas de Bode. Las esgecificaciones de diseo son: Margen de Fase > 75° Met Encuentre los atbutos de la respuesta al escalén uritario del sistoma disefiado,Amplitude, 49 “e (b) Frequency-domain Design ‘The Bode plot ofthe mcompenssed forward path tancfer function i made below. 1000 s(s-+10) (M3407, wd BW = 4853 ade es) ‘To realize a phase margin of 75 deg. we need move than 57 dee of additonal phase. Let us add ‘ddivonsl 10 deg forsafety. Thus the value of @ ,, forthe phacelesd connoliers chosen tobe (67 eg. The vale of ii calculated fom lesa 7” ate ais toa 7” ‘The gai ofthe cennoller i 20 Joe 20 tog ,, 24.18 = 27.56 AB. The new enn cocsover egnency -p.8 B Jeu, 2 From the Bode plot @, 2 ound tobe 70 sedlsec. Thus a= Var -Juie x70 2 Compensated System With Phase-Lead Controller 108 16?~100 | 120) -140) 160 108, tt (G5) Lafuncion de tansferencia del proceso de un sistema de contol con reaimentacion unitara es: 6 G(s) = _—* —__ a 09) co2syl+ 058) Disefe un contlader de adelanto de fase de etapa tric con a funcien de tansterenca Gs) = leds aay 14s Para que el margen de fase sea mato, El valor de ano debe ser mayor que 1000, Determine el MF MG, dl sistema dsefado, Determine los atbutos de a respuesta a escalén uit,242, ‘o.0005, 508 is ‘0.0008 4601 129) ‘.0002 3205) TSI ‘0.0001, 1957 297 ‘The phace margin fe maximum 24627 deg when "= 0.0006. ‘Nest weet 1'= 00006 and reduce 2 om 1000. We con chow tht the pace maria isnot very ‘sensitive to the variation of a when ais near 1000. The optimal value of 2 is around $80, and the ‘comesponding phase margin i 4834 dee ‘With 2 = 980 and T'= 0.0006, the ateibtes of the unittep respense are ‘Maximum overhoct -188% (0.202 wee 0.851 sec 10-24 (b) Single-stage Phase-lead Controller. ) o(1+azs) ~5(+0.25) (1+ 055)(1+75) T PM ™, (deg) 3.00507 17 a3 0.0010 70 Ta 0.0007 755 124 242 BE! proceso controlado de un sistema de control con realimentacién unitaria es: : i a Gy) = * sts +5 controlador en sere ten la uncion de transferencia: L4aTs 147s G4) = Disefs un contlador de eraso de fase en el dominio de Ia frecuencia para que las espaciicacones de desempefio sguenies se saistagan; Constante de erorrampaK.= 10, Margen defase = 70%(@) Frequency domain Design of Phase lag Controller __250(1+ ats) s(45) (1475) Gs) “The Bode plot of the uncompensated sytem i shown below. Let us add a nafety fctor by ‘requiring tht he decred phase margin 675 degree: We see that a phase margin of 75 éegrees as be realised f he pain cromsover is moved fo 0.64 radine. The magnitude of CC /@@) st thc Aequency is 23.7 dB. Thus the phaselag counoller must provide an attenuation of 23.7 aB at ‘he new gain ceccover foquency. Seting 23.748 wehne 0.065 wks 2 [We can set the value of V/aT to beat lest one decade below 0.64 rad/nec, of 0.064 rad/sec This, swe get = 236 Latws choose T= 300. The anster function ofthe phasing corroller become: Ltats 1419.58 Cuy= lets 143006 250Kuda, a8 Wnconiperisated! se -108 -1808 200, -ase -180 -200 -2s0 ie ie? awa ret Ter ro 38Frequency, Rad‘ ‘The sasha of the Secuancy reponse of he comperced tee 251 PM=71 ee N= 608 = 1065 BW = 0937 sndsee The antes of nite espana 2: Companies with he phases connor deszned input (a) which has ~ 0.09 a8 I~ 2000, (ieee ripen atte ae ‘ee main rence ein Lge vale of Ted in prt (2) which eed in lcs oresect, Bo ieidng ee 1. Ramdas stra azo cored fue, se un compensa de atelant fuel margen de fase se lagen ean ea enor qu $y corr de ered cided, sade se, Gu con MATLAB es cas despues ¢scalin unary ema nia del sta compensado.@ nad free B:T-82. Tet us use the following lead compensator: Qld = kot Tett g Stt LTS es a a ar Since Ry is specified as 4.0 s6c“l, we have be week - Ke = Gon Sho aeT Stare + DEED KOK AE Tet ue eet K= 2 and dafine Keo = 8. ‘then Rae Mexts plot « Bode dlagram of FORStIVCSHD ~ Of ELIE AE he following MATLAB program producos the Dode diagram show. on the next page. 6 Bode dingaan “ore mm=—. 0.0 45 Gorm. 11 1 of Secon ener 0G) ~ M030)ode ear f= Ate Noga) 8 | bk Pam titiie ao co - w revomcy rats From this plot, the phase and gain margins are 17° and 8.7 48, respectively. ‘Since the specifications call for = phase margin of 45%, 1et uz choose Sm = 8°17 12" = 90° (This means thet 12° nas pecs ‘to compensate for the strict in the gain Siig "ait pore sas 5 Lat ° at =f honed & 1s determined as 0.2174. Let us house, instead of 0.2174, & to be 0,21, oe a2/10 Pearson Eaveaton ne, Upper Sascle River, Ny. All rghts reserve. This pubbeaton's protctee by Copyright ang writen pemmsson shou be 1 fom th pubishor proto any profs rprediston, storage n areRfgal system, of ransmion many frm o By any means, easton, ‘Sex, potosopyng,recorang, orinewae or ersten regucng eMessanva) wre: Rh and Pemsstns paren, ponds to 4J= 2.81 rad/eec. We salect this frequency over frequency @q- Then we obtain $e be the new gain cross palie, = Vea x28) = 72207 We Jae = 60319RP FEM RL sees9 ence 42800 Geb) = Ke Se and. a= & ee = B27 ‘tos —__# ses =e Meese G0 = ar Stee = SSS ‘The open-loop transfer function becomes as POLES +} ZL 7205) ees ty df GOGO) wm 9 eons tT Se Te SATIS =< FLOCKS TS MSIE + AZI9RS ef. 26:3) 8°S Taiz open-loop transfer function ylelds phase margin of 45° and gain margin of 13 4B. So, the requixements on the phase margin and gain margin are satisfied. The closed-loop transfer function of the designed system is Co LOE ETF Rosy CUES STO BIIRS? +26 3/ S* 4 KLOOKS T ‘the following MATLAB program produces the unit-etep reeponee curve ac chowaon the next page.3 °°=* Unieetop reaponsa ==7== Seng = totes! Save test «1006 1 Response of Compensated System (Problem F732) +) 10 Pesrson Edeston, Ino. Upper Sala River. NJ_All rights reserved This puesto = rotated by Coparight and writen permission should be ned fam te pubisher prot to any peahited repracaston iorage Eigpatinwal stam, arranemacion in any form ory any mene. lace, Sal pstoapyng toang orlaewan For mfoonaton segura persone, wie Rights as Peon Deparment+7 4 Simtiariy, the following MATIAR rogram produces the unit-Yamp response cneve % #96 Unitcamp recponce ##*#* unc = {0 © 0 0 3.1064 4h = Bote? 8288S aoe 0 gn? 8 mms at te 7 ies & OF Compensated System ~ (Protlem B~7-32)*) jit Ramp input and Systein Output)