SEVEN Steady-State Errors SOLUTIONS TO CASE STUDIES CHALLENGES Antenna Control: Steady-State Error Design via Gain 7639K 8. GUS) = FETSeeT SD «System is Type 1. Step input: e(22) = 0; Ramp input 1 1259 ©) RS TFESRT FE | Patabote input (2) = 150x132 259 , 22 ~ 012. Therefore, K = 12.95. Now test the closed-loop transfer function, 989.25 Te) SEE - tor stability, Using Routh-Hurwite, the system is stable. STS1 3262 198s ono25 * Sahil. Using Rout Ne the syst " 1 ios Video Laser Disc Recorder: Steady-State Error Design via Gain The input, 1512 transforms into 30/3. e(c0) = 30/Ky = 0.005, Ky = 222600 Ks = 6x10” K KK. Therefore: 2) = 307K, = —— #20000 * KrK2K3 mass . 6x10" K,K,K, 5x10, Therefore KK9K3 = 10 2x10°(s +600) Using KaKaKs = 10% 6) = 9) Therefore, T(S) 2x10°(s +600) s' +2x10°s’ +2x10°s +1.2x10" Making a Routh table, Copyright © 2011 by John Wiley & Sons, Inc7-2 Chapter 7: Steady-State Errors 1 2x10 s 2xi0! 12x10" 194000 0 sf 120000000. 0 we see thatthe system is stable, Program: nuingy=20 deng=poly (0 0 GeeE (nung, dens) "r(s) Tefeedback (6,1 poles=pole (T) Computer response: rts) 200000 = + 1.28008 e*3 + 20000 82 + 200000 = + 1.20008 poles = -0e004 + 9990 0005 + 0.00774 010005 = 9,00791 ANSWERS TO REVIEW QUESTIONS |. Nonlinear, system configuration 2. Infinite 3. Step(position), ramp( velocity), parabola(acccleration) 4. Step(position)-1, ramp(velocity)-2, parabola(acceleration)-3 5. Decreases the steady-state error 6. Static emor coefficient is much greater than unity, 7. They are exact reciprocals. 8. A test input of step is used; the system has no integrations inthe forward path; the error fora step input is 1/1001 9. The number of pure integrations in the forward path Copyright © 2011 by John Wiley & Sons, IncSolutions to Problems 7-3 10, Type 0 since there are no poles atthe origin 11. Minimizes their eff 12, If each transfer function has no pure integrations, then the disturbance is minimized by decreasing the plant gain and increasing the controller gain, Ifany function has an integration then there is no control over its effect through gain adjustment. 13.No 14. A unity feedback is ereated by subtracting one from H(s). G(s) with H()-I as feedback form an cquivalent forward path transfer function with unity feedback. 15. The fractional change in a function caused by a fractional change in & parameter 16, Final value theorem and input substitution methods SOLUTIONS TO PROBLEMS : 2 SRG) ©(@)= limsE()= lim Tracy where 450(s-+12\(s+8)(s+15) s(s +38) +2s+28) 37 (~) = 6075x10% For parabolic input, Ge! For step, € (00) = 0. For 37tu(t), R(S) oe) ==. 2 a. From the figure €,, = ry —¢y =S—3=2 b. Since the system is linear, and because the original input was 1(¢) = 2.5tu(t), the new steady state enor ise, == 0.8 25 3 sR(s) e (x lim sE(s) = lim EE) SEO) Io TG) lim (16018!) 2.83 4 08+ E+ ANS +8). s'(8+6)s +17) Copyright © 2011 by John Wiley & Sons, I.7-4 Chapter 7: Steady-State Errors Reduce the system to an equivalent unity feedback system by first moving 1/s to the lel past the 1 summing junction. This move ereates a forward path consisting of a parallel pair, [= +1] in cascade s 2 with a feedback loop consisting of G(s) = rs and H(s) = 7. Thus, s ao -(H] 2s+3) | s+) s Ads14is+3)) (s+17) Hence, the system is Type 1 and the steady-state errors ae as follows ‘Steady-state error for 15u(t) = 0, Is 1s state eror for 1Stu(t) ==> =—>— = 127. Steady-state error for 1Stu(t) it 5 Steady-state error for 1SP°u(t) = 2 System is type 0. Kp = 1.488. For 30u(t), e(20) For 7otu(), e( For 8112u(),e(20) = 20 E()= R(s) 150/S* OTE G(s) 1, HOS TAS + ONS HIS HIS) S'(S+ 7S +148 +19) Thus, 7 150 o) = limsE(s) = Grp ay@tasy 23875 (7419) #£[4] = see) erefore, (05) =limm s2E%9)= tim $28. jig 8° Trees, 0) o 1. 20, 21, 2. ‘Thus, for stability and minimum error K = 1255.2. Thus, K, = = 18.3 and eee) 10 = 0 6.0055 K, 183 40 401040 ee) = 0 = 0.006, Hence,Ka=173338:33, K, Kalt Ka K at Find the equivalent G(s) fora unity feedback system. Gis) = AT Thus, (00) = GH 100 _ 100 10 00-001; fom which K= 110,00, 3K 20 K, S; e(w) = = = 0.061. Hence, K = 765.03. 7 K, 10 1 30K fs 2.0) =X, “Bog «Bus Ky “Fe = 60,000, Hence, K = 10,000, For finite enor for a ramp input, n= 1 b. K,=lim G(s) = lim OOM + 35430) a) Pl s(s¥5) 10000(s? +35 +30) ns = 60000 K,=limsG(s) K,=lims*G(s) =lims* Copyright © 2011 by John Wiley & Sons, Inc2. 24, 25. 26. 27. 28, Solutions to Problems 7-9 a.Type0 (s) Ris) “hus (ce) = lim sE(s) = li — 2 = PEO “Te Ge “Tus (= lin sE(s)= lin sO 6546) 14 008K (s+5)°(s+3) (#2) = 0, since the system is Type 0 als — 27 __o4, Thus, K = 325, K, 247K 1188 e(o)= t= = 008. Thus, K= 111 1+K, 1, 6K ae Smee 58 K__ 2000 ‘The system is stable for 0 < K < 2000, Since the maximum Ky is Ky = <== —— 320 320 ‘minimum steady-state error is Tomeetseay-sae eve chrectiies; =_Ris)__ E(s)= aap e | = sE(3) = oe s70 82, ‘To meet the transient requirement: Since T(s) = Therefore, Ka Kista) S24 (2B) + (B+ Ka) © on? = 10= 2+ Ka; 2oq= VIO = K+2B. Solving for , B= 41. For B=-41, K= 1.16 and «=7.76. An alternate solution is B = -1, K = $.16, and a= 1.74, a System Type= 1 basi Gi9)=Z thew, 2) = =p: =o0k or = 0 ane Bu.) -T+GQ) ~PrastK 10 Sine oy = 10.5 = 10,and a= He, G6) =< Copyright © 2011 by John Wiley & Sons, Ine.7-10 Chapter 7: Steady-State Errors 1. Thus, $= 6.260n= % 2. Ge) Kista) . ae aman TOTES LTR Hates RHP 2, Kaa? 53. From Ba. (7.70) ( \ ( Ky - (+2) _ GD | e(co)=1 i KKssy | i= 7 KiKi | +2) J +2) J Sensitivity to Ky Kika (100}(0.1) “TiKKy ~~ 2sq100y0.) ~ 7 0833 Sensitivity to Ky 2KLKY 20,110+100 Sek KemekikD * TLAeTOH OT) ~-O8 ss. a, Using Mason's rule: q {= 15 Loops Ly S40, My ste am, nnon-touching loops. A, = 1+ b.For a unit step input, Copyright © 2011 by John Wiley & Sons, Inc55. Solutions to Problems 7-33 For a unit ramp input, an, Ie e,, = Lims — “ a me 1+m, =~ m, ste Shap ste A. The system is type 0 a. Using Eq. (7.89) with s?+15s+50 = (ds+22) = (2s+20) GE-AY =| - Gs 15) 8? +108+23 6 +2087 +11 18+ 164 ‘ y = (+13) sto sta tss438 Yields e(:) = 1.09756 for a step input and e(20) = 0 fora ramp input, The same results are obtained using a (2 522-2 at. td] -15 23 6 e433 9 38 and Eq, (7.96) for a step input and Eq. (7.103) for a ramp input. , Using Eq, (7.89) with st+9s 7 1 (tay! ==] - +7)? 18 aos? 5807 = (549) 1 5249545 Yields (2) =0 fora step input and e(2) = fora ramp input. The same results are obtained using oll oo 7 -70 0 -9-15 and Eq, (12.123) fora step input and Eq. (12.130) for a ramp input. «. Using Eq, (7.89) with Copyright © 2011 by John Wiley & Sons, Ine.7-34 Chapter 7: Steady-State Errors Ra5s-4 55-03 540 (eat L sel @etdsed? -25-19 Beiaseassett| “3522 “lay 3 dagees yields (2) = 6 for a step input and ee) = fora amp input. The same results are obtained using -4 -23 10 attend) a a -19 Vly -3 5 and Eq, (7.96) for a step input and Bq, (7.103) for a ramp input. 5 Find G(s): Since 100 mil = 146.67 fSec, the velocity response of Ga(s) 0 a step displacement of the accelerator is v(t) = 146.67(1 - €!, Since 60 michr= 88 fsec, the velocity equation at 10 seconds Ki Sobecomes 88 = 146,67 (I-61), Solving for a yields «= 0.092, Thus, Gals) =<7q 995 « Bu, from K the velocity equation, the devalue of Ga(s)is pgs = 146.67. Solving for Ky, Gals) = 42s Find error: The forward transfer function of the velocity control loop is 13.49K 13.49K 1 G,()G (8) =~ Therefore, Ky = (00) = = 6.82 x 103K, Gal +1)(s + 0.092) oe «Ky 57. First, reduce the system to an equivalent unity feedback system. Push Ky to the right past the summing, junetion, + Kk R(s) | v2 Cis) - s+ Ds Ks Ky K Consent na iy festa sem ying nity tpt and cing iy tm ‘The equivalent forward transfer function is, Kiko ps KK I DstKAKSKD Copyright © 2011 by John Wiley & Sons, Ine.Solutions to Problems 7-35 The system is Type 0 with K, Ro R(G-K wo) = Bee = BH) - Assuming the input concentration is Ro, K,-K, The error can be reduced ifK; 58, a. For the inner loop, Gres SOO were k=“ + For the inner loop, Gre PaKs001K WRK AY um Gea) Gy 4 24000 s10.01)2 Form Gels) = Gels) 32 K3G2Ks+0.01K) System is Type 2. Therefore, egep = 0, b.cramp = 0, 14 6. parabola“ ~ Gor — 100 Gus) K(sio.012 4-19)" ~ FRSA O1Ks2+0.02K "109K a 1 Lok 104K 3 K 002K o 02K 2 L0iK-0002 04K o 00198 0.00417 61. 82300 b. ¥,(s)— 3s +53, oe) = Leal = 0.7883(s 4 53.85) 15.475 +9283)(s" +8.119s + 376.3) Els) (s Gels) = (K/100)*(1/1000)*G(s)*82.363 0.6488K (6453.85) Gis) (© + 8.1198 +3763) (6 + 15475-49283) K, = 0.6488K*53.85)[(376.3)(9283)] = K*1,0002E-5 Copyright © 2011 by John Wiley & Sons, In7-42 Chapter 7: Steady-State Errors Maximum K minimizes the steady-state error. Maximum K possible is that which yields stability 188444 x 10°, Therefore, K, = 1.8848, From Chapter 6 maximum K for stability is K = (LIK) = 0.348, 68, a. The system is Type O sine there are no open-loop poles atthe origin D.The open loop transfer function is 520s — 10.3844 KG(s)P(s)= Ks s)4+2.6817s* +0.119+0.012b 824.16K So hat K,, = Lim KG(s)P(s)= 0.1 which results in K = -0.1092 —824.16K | s*+2,6817s° +0.11s* + (0.0126—S20K )s +10.3844K =0 The Routh array is 9, a, When the speed controller is configured as @ proportional controller, the forward-path transfer function of this system is; O.11(5+0.6)xKp G(s) =$——___ "ss __q) (s+0.5173) + 5 (S+0.6) x (s+0.01908) For the steady-state error for a unitstep input, (f) = u(t), to be equal to 1%: 1 + lim G(s) O.11 (5 +0.6)x Kp soo V+ din} Ase ____ souls (@FOSTTS) + 5 (40.6) x (5 +0.01908) sep ~=0.01 2) 1 O11X0.6%K p ne 0+5%0.6%0.01908 b. When the speed controller is configured as a proportional plus integral controller, the forward-path transfer function of the system becomes: From equation (2), we get = 0.01, which yields: Ky... = 85.9 Copyright © 2011 by John Wiley & Sons, IncSolutions to Problems 7-43 0.11 (540.6) (1005+ Ky) 05173) + 5 106) x(s+0.01908)] For the steady-state error for a unit-ramp input, r(t) = f u(t), to be equal to 2.5% 1 1 (20) =0.025 (4) ramp) Gla) ; [ 0.11 (s+0.6)x(100s+K;_.) # 50 3 | SA so" (Ss @HO5173) + 5 (+06) x (6+0,01908)] From equation (4), we get: ——-—— = 0,025, which yields Kye = 347 8 OTIXOOK EK pwhich yields: Rigg 045% 0,6%0.01908 «c. We'll start by finding G,(s), the equivalent transfer function of the parallel combination, representing the torque and speed controllers, shown in Figure P7.35) 13.535, 3(s+0.6)(100s+40) 313.5357 +3008 +72 Gis) (5) me Gr05) FOS) os) s(+0.5) ° 6.13 x10 Given that the equivalent transfer function of the car is: G = ———___., we apply equation a 29) =r orgoe’ Neary e8 7.62" of the text taking into consideration that the disturbance here is a step with a magnitude equal to 83.7 83.7 83.7 (2) =-—__ = _=- = ling time B.11+0 Copyright © 2011 by John Wiley & Sons, Inc