Kendali Digital

Pertemuan 4

Menentukan periode
sampling
Apakah semakin kecil periode
sampling semakin bagus??
Semakin kecil periode sampling
semakin besar kecepatan komputasi
yang dibutuhkan.
Berapakah sampling time yang pas?
Untuk sistem dg pole2 real,
maka

Review of s-plane
Locations of poles
influence the values of:
Overshoot
Settling time

k=5

1.2
1
Amplitude

Locations of poles
are adjusted by
the value of the
gain (k)

Overshoot and setlling time

1.4

0.8
0.6

k=1

k=2

0.4

k=0.75

k=0.36

0.2
0

5
Time (s)

7 10

Relation between s and z

z e sT

Original relation
Some approximations :
Euler' s forward : z e sT 1 sT

or

1
1 Ts

or

Euler' s bacward : z e sT

Tustin' s :

z e sT

T
s
2

T
1 s
2
1

z 1
T
z 1
s
Tz
s

or

2 z 1
T z 1

Mapping s-plane into z-plane (1)

z e sT

z e j T eT jT eT e jT

s j
If 0, it means that the poles are in imaginary axis of s - plane (marginally stable)

0 z e jT cos T j sin T 1T
Pole locations on the imaginary axis of s - plane are mapped into the unit circle of z - plane.
The angles will depend on T ( : signal frequency; T : sampling period).

Mapping the lines of constant

s j

z eT e jT re jT
r cos T j sin T
r cos T jr sin T
Re z jImaj z

r eT

10

Mapping s-plane into z-plane (2)

Nyquist criterion :
Fs 2 f Fs : Sampling freq.; f : analog freq.

2f Fs

Alias
region

Alias
region

11

Time response based on pole positions

12

Review of and n on s - plane

Show the positions of poles which have the same damping ratio (:
constant) and have different undumped natural freq. (w n)!
Show the positions of poles which have the same undumped natural
freq. (wn : constant), but have different damping ratio!

s j d n j n 1 2
Magnitude 2 d2 n
f ( n )
Phase tan -1

1 2
sin 1

f ( )

13

Answer
0

n 0

n 0

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 and n on z - plane (1)

s j d n j n 1 2
negative s in quadrant II z e sT e j T e nT e

j n 1 2 T

z re j
Magnitude (r ) e nT f , n

n 1 2 T f , n

Show the figure for different damping ratio!

15

 and n on z - plane (2)

16

Finding and n on z - plane

n2
y ( s)
2
r ( s ) s 2 n s n2
Pole : s1,2

b b 2 4ac

n j n 1 2
2a

z e sT re j
r e nT

nT 1 2
ln r nT

ln r nT

1 2

ln r

ln r 2 2
1
T

ln r 2 2
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Example
Given a transfer function of digital closed loop control system :
y(z)
G( z)
0.368 z 0.264

2
r(z) 1 G ( z ) z z 0.632
Find the damping ratio and the undamped natural frequency! Assume T 1s
Solution :
The system characteri stic equation : z 2 z 0.632 0
z1, 2 0.5 j 0.618 r 0.795 0.890

ln r

ln r
1
T

0.25

ln r 2 2

0.92

18

Solution by graphical
method
The system characteri stic equation : z z 0.632 0
2

z1, 2 0.5 j 0.618

0.25

0.29
0.91
T
19

System Stability
Y(z)
G( z)
N ( z)
Closed loop discrete control system :

R(z) 1 GH ( z ) D ( z )
Characteri stic equation :1 GH(z) 0 or D(z) 0
System is stable if the roots of the characteristic eq. are
inside the unit circle.
Some methods to check for the stability of a discrete-time
system.
1. Finding the value of roots of the characteristic eq.
directly.
2. By doing some stability test without finding the roots.
3. Transform the problem into s-plane then use the
establised way of Routh-Hurwitz stability criterion
4. Use the graphical method.

20

Finding the roots

By factorization to find the roots.
Disadvantages:
- sometimes it is difficult to foctorize
the characteristic equation
- It just tells the stability itself, not
the margin.

21

Example 1 of method 1

Check whether the system as shown in the figure is stable

or not! Assume T = 1 s.

22

Answer
Y(z)
G( z)
The closed - loop system transfer function :

R(z) 1 G ( z )
1 e Ts 4

2
2z
Ts 2
1 2 z

G( z) Z

Z
(
1

e
)

s s 2
z 1 z e 2T
s
s

2 z 1 e 2T
21 e 2T
1
G ( z ) 1 z

2T
z 1 z e z e 2T
1.729
G( z)
T 1s
z 0.135
1.729
The characteri stic equation :1 G(z) 0 1
0
z 0.135
z 1.594 0 z 1.594 system is not stable

23

Example 2 of method 1
For the case of example 1, find the
value of T so that the system becomes
stable!

24

Answer
Keep the sampling time on T, we have:
21 e
G( z)
2T

z e 2T

21 e 2T
The char. eq. 1
0
2T
ze
z e 2T 21 e 2T 0

x a a x a

x a x a dan x a

z 3e 2T 2
The system will be stable if :
3e 2T 2 1
3e 2T 3
e 2T 1 2T ln 1
25

Special Project
Design a DC motor control system using a
microcontroller!
The speed of DC motor must follow the set point which
is typed at the keypad.
Set point
Ke
yp
ad

Mikrokontrole
r
ADC

Amplifier

DAC
(DriverPW
M)

DC Motor
Speed
Tachometer

26

Thank you

27

Time domain specifications

n2
y ( s)
2
r ( s ) s 2 n s n2
n : undamped natural frequency of the system
: damping ratio of the system
Parameters of the performanc e :
1. Maximum overshoot
2. Peak time
3. Rise time
3. Settling time
4. Steady - state error

28

Reminder: influence of the damping

ratio

29

 and n on s - plane
Remind poles position on s-plane
s j d

Damping ratio, sin cos

n
Undamped natural frequency, n
Real part,
n
Imag. part,
n2 2 d2
d n2 2 n2 2n2 n 1 2

30