^lroduction to Mec^=:

26 A Textbook of Mechatronics

When the system has some roots with real parts equal to zero, but none with positive Nyquist metho
real parts, the system is said tobe "marginally stnble" which in unstable. . This me::
Routh stability criterion : approxii:-;:
Routh stability criterion is a method for determining system stability that can be stabilitr' :: :
applied to an nth order characteristic eqrration of the_form o It is also *.:
a,,5" +nn_rS"' + ..... + n,S + ao = 0 or syster-: :

The Routh table is prepared as defined below : Root locus me:.

q
This methoC :=:
"n 4., . a,t4
.. r,ielding readill, :
sr_r a,t-3 u
n-5
b" b3
1.2.18. Error E
: I cl c. c3 An error detectc
.Ltpt.tt.
After the array is completed the following criterion is applied :
"The number of changes in sign for the terms in the first column equals tlrc number of roots
. It gives a: :
of the characteristic equation with positiae real parts. . Its outpu: .:
Hence by the Routh criterion, for a system to be stable the array resulting from its electricai c.::
characteristic equation must have a first column lvith terms of the same sign. o An error-:-::
Deficiencie's of Routh's criterion : to a voltai. :
1. It does not provide the facility for selecting rn a simple and direct fashion the in propor:. _' :
parameters of a system component to stabilize the system when it is found to be 1.2.19. LVDT
absolutely unstable.
LVDT (Linear--,:
2. It assumes that characteristic equation is available in polynomial form; which is ,:nd two secondar-.- .,.

not necessarily always true. :r series oppositiot -

3. The Routh array may show no change in sign in the first column but the ensuing .oltages. The mor--:.
dynamic response may be characterised by overshoots so excessive as to render s zero. When the ;::
the system useless for control purposes. Thus the system may be relatively unstable
inspite of the fact that it is absolutely stable. 1.2.2O. Servo-A
4. Although this criterion gives information about absolute stability, it conveys little A servo-amplifie
or no information about how close the system may be to become unstable. .o directly operate ti:: .-

1.2,17. Frequency Response o It can be ele::

The analysis of the systern whose input is frequency and amplitude is dealt under
o It should ha-,,r
frequency response. The system is actuated by a sinusodal input and alloued to settle. The curve shou_;
output amplitude and its phase with respect to input are measured. The phase difference and residual vo.:"
amplitude change indicate the nature of the system. 1.2.21. Samplec
Graphical methods : These systems ,a_
The following four graphical methods are available to controi systems analyses which rnore aariables chang: .-
are simpler and more direct than the time domain method for practical linear models of instants is very snt:.._
feedback control systems :
interpolation.
1. Bode's-Plot-Representation 2. Nyquist Diagrams These systems :::
3. Nichols Charts 4. The Root Locus method (i) Numeri::.
The first three are frequency-domain techniques.
(ii) Pulse co::
Bode's Plot. This method has the following adaantages :
(iii) High spr=
(i) It is the simplest method. (iz) Large cc.=:
(li) The multiplication of magnitudes can be converted into addition. fransmiss..
(ili) Transfer function can be determined easily.
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 ^:roduction to Mechatronics, Measurement Systems and Control Systems 27
Eet .' Mechatronics

: :.c:.e rvith positive Nyquist method:

--
E- ^tlg
- o This method handles systems with time delays without the necessity of
approximations and hence yields exact results about both absolute and relative
;:a:r,itr. that can be stabilitv of the system.
o It is also useful for obtaining information about transfer functions of components
or svstems from experimental frequency response data-
Root locus method :
This method permits accurate computations of the time-domain resPonse in addition
:-. r,ielding readily available frequency resPonse information.

1.2.18. Error Detector

An error detector is a sensor to sense the error between the reference input and the desired

'
"'ll'rtt
o It gives an input to the amplifier and actuator in proportion to the error.
L..: :' :':.!!nber of roots
o Its output should be directly electrical or a transducer should be cascaded to give
electrical output.
a'. :=..:,iing from its
:--t. o An error-cum-transducer is obtained by connecting two potentiometers in parallel
::-- = :-ll
to a voltage source. Their movable points are brought out to give output voltage
in proportion to the difference between the posifions of the movable contacts.
ti :- .--: fashion the
:€: .: :s found to be 1.2.19. LVDT
LVDT (Linear-Variable-Differential Transformer) is a transformer having one primary,
*-r.::. :--:rrl; rvhich is :nd two secondary windings and movable core. The secondary windings are connected
.n series opposition, so as to have output which is difference of the tivo induced secondary
i::j. :-lr the ensuing .'oltages. The movable core is connected to the shaft and a normal position output voltage
x.fr:.'. e as to render .s zero. When the core moves the output uoltage is a function o.f the shaft position.
:l :=-::.-''elr- unstable
1.2.2O, Servo-Amplifier
:a-:^ -: :..nr-eys little A servo-amplifier is the amplifier used to amplify the small otrtpttt of the error detector
IfJ- rI: *:.stable. :t directly operate the actuator.
r It can be electronic, magnetic or rotating.
o It should have high input impedance, low output impedance, frequency resPonse
,L:,:. :. ;ea1t under curve should be flat in the range of operating frequencies, phase sensitive, small
rr-. :" ,.i :o settle. The
residual voltage and minimum noise.
r r -i-.i ,ii.fference and
1.2.21. Sampled Data Systems
These systems (also called discrete time systems) are dynamic systems, in which one or
sle= s :nalvses which .,nre aariables change at the discrete instant of time. The time interval between two discrete
r,(:- --:.ear models of :nstants is very small so that the data during this interval can be approximated by
rnterpolation.
E These systems find application in :

re:: --.tr (i) Numericaliy controlled machine tool operations.

(ii) Pulse control or digital control of electric drives.
(lil) High spped tin plate rolling mill using quantized data for control.
(io) Large complex systems employing telemetry links based on pulse modulation
transmission of data.

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