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ADVANCED MECHATRONICS
MEng6081
Advanced Mechatronics
Control Systems
Advanced Mechatronics
Control system
A control system is a system, which provides the desired response by giving appropriate input.
Examples :
Traffic lights control system
washing machine
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Idle-speed control
Washing machine
Step motors
T0
T
TB
He
ate Robots
r
Controlled Variable
Actuating signal
PLANT
First order of system is defined as first derivative with respect to time and second order of
system is second derivative with respect to time.
The order of a control system is determined by the power of ‘s’ in the denominator of its transfer
function. If the power of s in the denominator of the transfer function of a control system is 2, then the
system is said to be second order control system. The general expression of the transfer function of a
second order control system is given as
Here, ζ and ωn are the damping ratio and natural frequency of the system
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STABILITY cab be judged by observing the time response curve. (Which is basically depends on
location of poles)
Generally for a stable system oscillations must die out as early as possible or steady state should
be reached fast. (in time response curve)
A measure of the tendency of a system response to return to zero after being disturbed
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2) Marginally stable:
Impulse response of the system
remains between 0 to when time
approached to infinity
3) Un stable:
Impulse response of the system
reach infinity when time
approaches to infinity
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Example:
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Example:
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Routh-Hurwitz (Routh, 1905) criterion is used to know how many closed-loop system
poles are in the LHP, in the RHP, and on the jw-axis.
Routh criterion technique gives the number of poles in each section of the s-plane,
but does not give their coordinates.
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Frequency response
linear time-invariant (LTI) systems have the extremely important property that
if the input to the system is sinusoidal, then the steady-state output will also
be sinusoidal at the same frequency
but, with different magnitude and phase.
These magnitude and phase differences are a function of the frequency and
comprise the frequency response of the system.
Bode plot
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g<p – Stable system g>p – Un Stable system g= p – Marginally Stable system
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Root Locus
Necessary of Compensation
In order to obtain the desired performance of the system, we use compensating networks.
Compensating networks are applied to the system in the form of feed forward path gain adjustment.
Compensate a unstable system to make it stable.
A compensating network is used to minimize overshoot.
These compensating networks increase the steady state accuracy of the system. An important point to
be noted here is that the increase in the steady state accuracy brings instability to the system.
Compensating networks also introduces poles and zeros in the system thereby causes changes in the
transfer function of the system. Due to this, performance specifications of the system change.
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Centroid =
Example:
Design a compensator for the given system transfer function. The required dominated pole
should be -32i
G(S) =
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Example:
Design a lead compensator for the system given by the transfer function G(S) = that will
provide a damping ration ≥0.5 and ≥7 rad/sec
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PID controller
Proportional Gain[Kp]
Integral Gain[Ki]
Due to limitation of p-controller where there always exists an
offset between the process variable and set point, I-controller
is needed, which provides necessary action to eliminate the
steady state error.
It integrates the error over a period of time until error value
reaches to zero.
It holds the value to final control device at which error
becomes zero.
Integral control decreases its output when negative error takes
place.
It limits the speed of response and affects stability of the
system.
Speed of the response is increased by decreasing integral gain
Ki.
For most of the cases, PI controller is used particularly where high speed response is not required.
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By combining these three controllers, we can get the desired response for the system.
The general effects of each controller parameter (kp,ki,kd ) on a closed-loop system are
summarized in the table below.
Note, these guidelines hold in many cases, but not all.
If you truly want to know the effect of tuning the individual gains, you will have to do more
analysis, or will have to perform testing on the actual system.