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Figure 1
40
Given a control system in Figure 1, in which G ( s )
s ( s 8)
1.1. Let GC ( s ) 1, calculate the percentage of overshoot and settling time (5% criterion) of the
system
1.2. Design the controller GC ( s ) such that the closed-loop system has a pair of complex poles
with 0.7 and n 10 , and the steady state error to unit ramp input is 0.02
480
Problem 2: (3.5 points) Given a control system in Figure 1 with G ( s) =
s( s + 4)( s + 30)
Using the Bode diagram, design the controller GC(s) so that the closed-loop system has phase
margin FM * ³ 550 and steady-state error to unit ramp input ess* = 0.05 .
1
Solution
Problem 1: (3.5p)
s 1 / T1
Design phase lead compensator: Gc1 ( s ) K c1
s 1 / T1
*
- The desired dominant poles: s1,2 n jn 1 2 7 7.1 j
- The deficiency angle: * 180 G ( s1* ) 180 arg( 7 j 7.1) arg(7 j 7.1 8) 36.60
2
Note: Pole cancelation method:
s 8
GC1 ( s ) 2.48
s 14
s ( s 8)( s 13.21)
Determine KC1 : K C1 2.38
40( s 7.56) s1* 7 j 7.1
s 7.56
GC1 s 2.38
s 13.21
* Design the phase lag controller GC 2 ( s ) so that ess* 0.02 (unit ramp input)
1
s
T2
GC 2 s K c 2 ; 1
1
s
T2
1 1
To meet the steady-state error requirement: ess* *
0.02 KV* * 50
KV ess
KV 6.81
0.136
KV* 50
1 1
Chose zero:
T
Re s1* 7
T
0.5
1
pole 0.5 0.068
T
Calculate Kc2:
K C 2 1.0
s 0.5
GC 2 s
s 0.068
s 7.56 s 0.5
GC ( s) GC1 ( s).GC 2 ( s ) 2.38
s 13.21 s 0.068
Problem 2: (3.5p)
Transfer function of the compensator:
Ts 1
GC ( s ) K C
Ts 1
- Velocity constant before compensation:
3
480
KV lim sG ( s) lim s 4
s 0 s 0 s ( s 4)( s 30)
- Desired velocity constant:
1 1
KV* * 20
ess 0.05
- The gain of the controller:
K * 20
KC V 5
KV 4
480 20
Denote: G1 ( s ) KC G ( s ) 5
s( s 4)( s 30) s( s / 4 1)( s / 30 1)
Bode Diagram
50
-50
-100
12.5
-150
-90
-135
-180
185
-225
-270
10 -1 10 0 10 1 10 2 10 3
Frequency (rad/s)
Problem 3: (3p)
3.1 The controllability matrix:
5
æ é-1ù é 0 1 ù é-1ù ö÷ é-1 1ù
C = [ B AB] = ççç ê ú ê ú ê ú÷ = ê ú
çè êë 1 úû êë-2 -1úû êë 1 úû ÷÷ø êë 1 1úû
det(C ) = -2
rank (C ) = 2
The system is controlable