lecture_24

lecture_24 - omega_n = 5; K_dc = 3; G_0 =...

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ME 421 Mechanical Dynamics and Control Fall 2006, Lecture 24 Today’s topics (Secs. 10-6, 10-7) • Type of Systems; • Proportional-derivative (PD) control; • PD control with feedforward gain;
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Integral Control
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Concept of “type of the system”
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Type of the system
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Type of the system & Proportional-Integral Control
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Proportional-Derivative (PD) Control
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Proportional-Derivative (PD) Control
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Proportional-Derivative (PD) Control
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MATLAB Example
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Proportional-Derivative (PD) Control
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Method 1: PD-Control with Feedforward Gain
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I:\CourseWork\ME421_Fall06\Lecture\L_24_Exmp.m Page 1 November 9, 2006 10:38:44 AM % ================================================== % ME 421, fall 2006, Lecture 24 % Design Example of PD control on the feedback path %=================================================== clear all % Original open-loop system xi = 0.2;
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Unformatted text preview: omega_n = 5; K_dc = 3; G_0 = tf([K_dc*omega_n^2], [1 2*xi*omega_n omega_n^2]); % Plot the step response of the open loop system and check the % settling time and overshoot. figure(1), step(G_0), hold on; % The desired overshoot and settling time; ts_d = 1; % Desired settling time; delta_d = 0.02; % Desired overshoot; % Find the desired damping ratio and the desired natural frequency xi_hat = sqrt((log(1/delta_d))^2/(pi^2 + (log(1/delta_d))^2)); omega_n_hat = 4/(ts_d*xi_hat); % Find the desired Kp and Kd; Kp = ((omega_n_hat^2/omega_n^2)-1)/K_dc; Kd = (2*omega_n_hat*xi_hat - 2*omega_n*xi)/(K_dc*omega_n^2); My_PD = tf([Kd Kp], 1); % Form the feedback system; My_Gcl = feedback(G_0, My_PD); [Num_cl, Den_cl] = tfdata(My_Gcl,'v'); My_Gcl = tf(Num_cl(3), Den_cl); figure(1), step(My_Gcl); grid;...
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lecture_24 - omega_n = 5; K_dc = 3; G_0 =...

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