Advice

 for  Q6  Assignment  5  

•  In  Q6  you  are  required  to  derive  the  closed  loop  transfer  func;on  to  determine  a  suitable  PB  
to  give  you  an  oscilla;ng  response  with  a  one  quarter  decay  ra;o.  
•  At  some  point  you  will  end  up  with  a  transfer  func;on  that  has  the  following  form:  
τ s +1
 Eq  1   GCL =
As 2 + Bs +1
 
•  you  will  no;ce  that  you  can  rewrite  this  as:  
τs 1
 Eq  2   GCL = +
As 2 + Bs +1 As 2 + Bs +1
•  i.e.  separate  into  two  terms  
•  Now  most  of  you  have  realised  that  you  need  to  equate  term  to  a  second  order  transfer  
func;on  to  determine  the  details  of  the  coefficients  A  and  B.  However  many  have  asked  the  
ques;on  how  to  jus;fy  the  choice  of  the  second  term  in  equa;on  2  above  (i.e.  the  one  that  
has  the  unity  numerator)  
 
 
•  Lets  revisit  the  Servo  Regulator  transfer  func;on.  It  is  wriOen  as  
GcGp Gd
 Eq  3   GCL = R(s) + D(s)
1+ GcGp 1+ GcGp
 
•  which  has  the  following  block  diagram:  

•  The  interes;ng  thing  is  you  can  split  this  into  servo  and  regulator   D(s)  
 control  terms  on  the  following  page.  

   
GD(s)  

+  
R(s)   X  
-­‐  
Gc(s)   Gp(s)  
+  
X  
+  
Y(s)  
 
 

 
              Servo        Regulator  
 Eq  3  
GcGp Gd
  GCL = R(s) + D(s)
1+ GcGp 1+ GcGp

•  Recall  that  you  can  treat  each  of  these  separately  -­‐  WHY?  

•  The  summing  comparator  enables  us  to  separate  the  terms  BUT  
•  Also  the  denominator  is  common  to  both  of  the  func;ons  
•  This  means  the  characteris;c  equa;on  is  common  to  both  func;ons  
Regulator  
•  Now  compare  this  to  the  Eq  2  ….  
D(s)  
•  Hence  you  can  choose  the  term  that  best  fits  your  purpose  since  the  
 informa;on  you  learn  about  the  characteris;c  equa;on  will  be  common  to  
 both  terms  
GD(s)  
   

+  
Servo     R(s)   X  
-­‐  
Gc(s)   Gp(s)  
+  
X  
+  
Y(s)