{[ promptMessage ]}

Bookmark it

{[ promptMessage ]}

lecture_24

# lecture_24 - omega_n = 5 K_dc = 3 G_0 = tf[K_dc*omega_n^2[1...

This preview shows pages 1–12. Sign up to view the full content.

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;

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
Integral Control
Concept of “type of the system”

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
Type of the system
Type of the system & Proportional-Integral Control

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
Proportional-Derivative (PD) Control
Proportional-Derivative (PD) Control

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
Proportional-Derivative (PD) Control
MATLAB Example

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
Proportional-Derivative (PD) Control
Method 1: PD-Control with Feedforward Gain

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
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;
This is the end of the preview. Sign up to access the rest of the document.

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;...
View Full Document

{[ snackBarMessage ]}

### Page1 / 12

lecture_24 - omega_n = 5 K_dc = 3 G_0 = tf[K_dc*omega_n^2[1...

This preview shows document pages 1 - 12. Sign up to view the full document.

View Full Document
Ask a homework question - tutors are online