Attribution Non-Commercial (BY-NC)

82 views

MEC4418 - Assignment 1 - Solution

Attribution Non-Commercial (BY-NC)

- Rotating Machinery - Practical Solutions to Unbalance and Misalignment
- Analog and Digital Control System Design - Chen
- Class Notes
- The Snap-back Behavior of a Self-deploying Cylinder Based on Origami with Kresling Pattern
- EJP 2006 a Sphere Rolling on the Inside Surface of a Cone
- nonlin145
- 2s120commissioning-140309121433-phpapp02
- Calculator_Techniques.pptx
- 13 Inverse Trig Functions.ppt
- 16.pdf
- MIT2_04AS13_PractProblem2
- 47083207 Grade 11 Math Exam Notes
- Form 5 Additional Maths Note
- Simple Harmonic Motion1
- MIT6 003S10 Lec12 Handout
- 06-control-systems-aug-2007-aero
- ELG4152L13.pdf
- Periodic Global Parameterization
- 5th Sem B.tech BME Syllabus
- MEIE5121 MCTE4150 SP18 Timeresponse 2

You are on page 1of 6

(a) No, because 1) it is not symmetric with respect to the real axis and 2) the locus on the real axis is wrong (b) No, because 1) there should be locus between the leftmost pole and the zero 2) a pole starts from an open-loop pole ends at another open- loop pole. (c) No, because the root locus should exist between the open-loop zeros. (d) Yes. (e) No, because the root locus should be symmetric about the real axis. (f) Yes.

Problem 2

(a) The current system has a pair of poles at the origin, and the root locus is located along the imaginary axis. Most importantly, the root locus does not pass through 1 , and so gain adjustment will not move the closed-loop poles to the desired locations. (b) Assume the root locus passes through the desired points. From the angle condition + Since

1 s2 s=1+

1 s2

s=1+

= (2k + 1)180

= 0 45 45 = 90 , = 90 .

In Figure 1, P = 1 + , 1/(T ) = 3.414, and 1/T = 0.586. Note P OD = 45 , and the sine rule was used as in the lecture: OD 2 OC 2 = , = sin 112.5 sin 22.5 sin 22.5 sin 112.5 Finally, from the angle condition s + 0.586 1 = 1, s + 3.41 s2 s=1+ K = 4.82, which nalizes the lead compensator. (c) The pole locate 1 gives n = 1 + 1 = 2, and = cos 45 = 2/2. K (d) Step responses of the compensated/uncompensated are shown in Figure 2.

Monash University

MEC4418

S1 2011

Monash University

Problem 3

(a) Since this is a lead compensator, the zero should go on the right side of the pole (closer to axis than the pole).

4 (b) Ts = n = 7 and = 0.707 gives n = 0.808, and therefore = 0.571. From these, the desired closed-loop poles are at 0.571 0.571. Lets dene s1 = 0.571 + 0.571. The angle deciency = 39.38 is from

+ (s1 + 2) (s1 ) (s2 + 2s + 1) = 180 (2k + 1) Since the pole is already located at 1, the zero may now be placed. From the equation (s1 + z) (s1 + 1) = arctan z = 0.546. Now, we have Gc (s) = (c) From the magnitude condition, K K = 0.335. (s1 + 2) s1 + 0.546 2 + 2s + 1) = 1, s1 + 1 s1 (s1 1 0.571 53.08 = = 39.38 , 0.571 + z s + 0.546 s+1

Problem 4

(a) Compute desired poles from the design specications. Answer: From the specication, the desired poles are at s = 2 2 3

(b) Compute angle deciency in degree. Answer: From 120 120 = 180 , = 60 . (c) Find the compensator pole and zero. Answer: Recall the drawing in the lecture slide: 1/T 4 1/(T ) 4 = 1/T = 2, = 1/(T ) = 8 sin 30 sin 90 sin 90 sin 30 (d) Compute the gain K. Answer: From the magnitude condition, K and K = 32. s+2 1 s + 8 s2

s=2+2 3

=1

MEC4418

S1 2011

Monash University

Problem 5

(a) From the specication, the desired poles are 2.5 4.33 (b) Lets set s1 = 2.5 + 4.33. The angle deciency can be found from the following: + G(s1 ) = + 0 120 115 = 180 , = 55 (c) From the Figure 1, P = 2.5 + 4.33, and = 55 . From the sine rule, we have OD OC 5 5 = , = sin 32.5 sin 87.5 sin 87.5 sin 32.5 which gives OD = 2.69 and OC = 9.3. The current compensator is in the form of Gc (s) = K s + 2.69 s + 1/T2 1 . s + 9.3 s + T

2

s1 +2.69 s1 +9.3 G(s1 )

1 11.08. 0.092

. Here, we assume that the magnitude of the lag compensator is approximately one. (e) can be obtained by Kv = 80 = lim sGc (s)G(s) = 11.08

s0

which gives = 2.8647. Setting T2 = 5 gives the magnitude 0.9874 and angle contribution 1.327 , and T2 = 10 0.9936 and 0.6547 , respectively. (f) In the following analysis, we set T2 = 5. As shown in Figure 3, the closed-loop poles (that are supposed to be dominant) are little bit off from the desired locations. Therefore, the step response is also worse than desired (settling time ( 1.6 sec) is ok, but the maximum overshoot (40%) is too high (16% required)). Ramp response shows good steady-state performance as desired.

MEC4418

S1 2011

Monash University

MEC4418

S1 2011

Monash University

MEC4418

S1 2011

- Rotating Machinery - Practical Solutions to Unbalance and MisalignmentUploaded byleitor4
- Analog and Digital Control System Design - ChenUploaded byEdisson Rangel Barajas
- Class NotesUploaded byjack
- The Snap-back Behavior of a Self-deploying Cylinder Based on Origami with Kresling PatternUploaded byGabriel Alves Vasconcelos
- EJP 2006 a Sphere Rolling on the Inside Surface of a ConeUploaded byluis199555
- nonlin145Uploaded bymakroum
- 2s120commissioning-140309121433-phpapp02Uploaded byPedro Tiago
- Calculator_Techniques.pptxUploaded byJunar Amaro
- 13 Inverse Trig Functions.pptUploaded byRob
- 16.pdfUploaded byPhạm Ngọc Hòa
- MIT2_04AS13_PractProblem2Uploaded byjuansantospalacios
- 47083207 Grade 11 Math Exam NotesUploaded bypkgarg_iitkgp
- Form 5 Additional Maths NoteUploaded byEric Wong
- Simple Harmonic Motion1Uploaded byRosmaya Mokhtar
- MIT6 003S10 Lec12 HandoutUploaded bydesiman1
- 06-control-systems-aug-2007-aeroUploaded byGoutham Bendre
- ELG4152L13.pdfUploaded byRaf Ismail
- Periodic Global ParameterizationUploaded byXu Jialiang
- 5th Sem B.tech BME SyllabusUploaded bySouvik Das
- MEIE5121 MCTE4150 SP18 Timeresponse 2Uploaded byhazaa
- pahang-juj-spm-2014-add-maths-set-b.pdfUploaded byZaid Ibrahim
- M3 R10 NovDec 11Uploaded byVimal Chand
- reviwerUploaded bySolomon's Porch Tutorial
- lemh102lemh1a2fsdfgUploaded byShruti Giri
- mathset1.pdfUploaded byBaguette Bubbles
- t1fa13solUploaded bydeneme12_
- EXP NO10Uploaded byManishRajMuthuSelvam
- An Elementary Trigonometric EquationUploaded byLutfi
- ReferenceAnglesSecCscCotUploaded bybwlomas
- 25678015Uploaded byMonal Bhoyar

- Peróxido HidrogenoUploaded byDiandraBlueNerio
- 2-12-139383130737-42.pdfUploaded bymohan
- IJMET_08_03_049.pdfUploaded byHarish Mech
- The Performance of Selected Large Cap and Small & Mid Cap Mutual Fund Schemes in IndiaUploaded byRobin Sadayat
- 9709_s17_ms_71.pdfUploaded byFortiter Fyspro
- extracurricular activities in mathematicsUploaded byapi-375352361
- 212a10lecture1Uploaded byLuiza Beznea
- A High Speed Low Power Encoder for a 5 Bit Flash ADC _2012Uploaded byManish Bansal
- Factors Affecting the Valuation of Corporate BondsUploaded bySohilauw 1899
- Cost Of CapitalUploaded byProjjal Das
- OUTPUT1Uploaded byChristy Angelia
- Sem 2 Final Exam ReviewUploaded byaprileverlasting
- 2012 an Adaptive LU Factorization Algorithm for Parallel Circuit SimulationUploaded byAjay Yadav
- 80C51_FAM_ARCH_1Uploaded bySruthy Arun
- A TERM PAPER ON MONTE CARLO ANALYSIS / SIMULATIONUploaded byferdad4real
- 22TCN 262-2000_ENGLISHUploaded byVõ Quang Kiệt
- Eurotherm 2116 ManualUploaded bydps32
- Week2 MathUploaded byجانر داٹنگالانگ
- crc final.docxUploaded byrachna009
- Anova.docUploaded byIndika Ranasinghe
- Magnetic Levitation Systems Using Analog and Digital Phase Lead ControllersUploaded byJavier de la Pascua
- ÖkonometrieUploaded byUploader_LLBB
- 1 - 1 - Rob Clark Introduction (1042)Uploaded bykenny12312
- Introduction+to+UMLUploaded bysanjeev9893
- CON3301 - PPT 2 Kinematics (2017) - Basic PhysicsUploaded byJoseph Chan
- Assignment 1Uploaded byauuser2011
- i Bch KineticsUploaded byilias1973
- 0 - Mathematics Achievement and Self-efficacy; Relations With Motivation for MathematicsUploaded byLuis Guardado
- M7-AFT-ENG.pdfUploaded byWindy Nainggolan
- TQM SIX SIGMAUploaded byMuneeb Javaid