basic control system 1

basic control system 1 - D EPARTMENT OF E LECTRICAL AND E...

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D EPARTMENT OF E LECTRICAL AND E LECTRONIC E NGINEERING EE208: Part II Control Systems C. P. Jobling 15 February 1997 Version 0.99 A printable version of these lecture notes are available for downloading in PDF and Zipped PostScript formats. Slide 1 D E E E EE208 Part II Control Systems 1
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CONTENTS 2 Contents 1 Introduction to Control Systems 9 1 . 1 C o n t r o lS y s t em sA p p l i c a t io n s .................... 9 1.1.1 Brief History . ........................ 9 1.1.2 The Challenges of Control Systems . ............ 9 1.1.3 An Example — The Space Shuttle . . ............ 9 1.1.4 The Benefits of Studying Control . . ............ 1 8 1 . 2 D e s c r ib in gC o n t r o y s t s ..................... 1 8 1.2.1 The Control System . . ................... 1 8 1.2.2 Description of Input and Output . 1 8 1.2.3 Advantages of Control Systems . 2 1 1.2.4 Open-Loop Systems . . ................... 2 2 1.2.5 Closed-Loop Systems 2 4 1.2.6 Computer-Controlled Systems . . . . ............ 2 7 2 Introduction to the Analysis and Design Process 29 2 . o n t r o y s t n a ly s i sa n dD e s ig nO b j e c t i v e s .......... 2 9 2.1.1 Transient Response . 2 9 2.1.2 Steady-state accuracy . 3 0 2.1.3 Stability . . .......................... 3 0 2 . 2 A nE x amp l eo faC lo s e d -L o o pS y s t em. ............... 3 0 2.2.1 Antenna Azimuth Position Control . 3 0 2.2.2 Block Schematic Diagram . ................. 3 6 2.2.3 Transient Performance . ................... 3 6 2.2.4 Steady-state error . . . . ................... 3 6 2 . 3 T h eD e s na n dA n a s i sS e q u e n c e.................. 3 9 2.3.1 Determine a Physical System from the Requirements . . . . 39 2.3.2 Transform the Physical System into a Schematic . . . . . . 39 2.3.3 Mathematical Models for the Schematic. .......... 4 2 2.3.4 Block Diagram Reduction . 4 2 2.3.5 Analysis and Design . 4 2 3 Modelling the Azimuth Position Control System 51 3 . 1 T h eS c h a t i cf o rth eP l a n t...................... 5 1 3 . 2 M e c h a n i c a id e ............................ 5 2 3 . 3 E f f e c to fth eG e a r b o x......................... 5 2 3.3.1 An Ideally Matched Gearbox . . . . . ............ 5 6 3 . 4 E l e c t r i c a e............................. 5 7 3.4.1 Armature-Voltage Controlled DC Motor. 5 9 3 . 5 C o u p l o n s t a n t s.......................... 6 2 3 . 6 T h eR e s eC o n t r o y s t 6 7 3.6.1 Position sensors . . . . . ................... 6 8 3.6.2 Velocity sensors 7 0 3.6.3 Pre-amplifier . 7 0 3.6.4 Power Amplifier . 7 0 3.6.5 Block Diagram of Plant 7 1 3 . 7 V e c i tyc o n t r o lsy s t ....................... 7 3
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CONTENTS 3 4 Evaluation of System Response 76 4.1 Poles and Zeros and System Response . . . . ............ 7 7 4.2 First-Order System Responses and Specifications . . ........ 8 4 4.2.1 The significance of ..................... 8 4 4.2.2 Time Constant . . . . . ................... 8 5 4.2.3 Rise Time ......................... 8 5 4.2.4 Settling Time ....................... 8 6 4.3 Types of Second-Order System Responses . . ............ 8 9 4.3.1 Overdamped Response . ................... 8 9 4.3.2 Underdamped Response . .................. 9 0 4.3.3 Undamped Response . . ................... 9 3 4.3.4 Critically Damped System. ................. 9 3 4.4 The General Second-Order Response . . . . . ............ 9 8 4.4.1 Definitions . 9 8 4.4.2 Derivation of Formulae . 9 9 4.4.3 Pole-zero locations . . . ................... 1 0 0 4.4.4 Further analysis for underdamped second-order systems . . 102 4.5 The Specification of Second-Order Response . ........... 1 0 5 4.5.1 Evaluation of 1 0 6 4.5.2 Evaluation of ...................... 1 0 7 4.5.3 Evaluation of 1 0 8 4.6 Relating Response Specifications to Pole Locations in the -Plane . 111 4.6.1 Effect of moving poles along design curves .
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basic control system 1 - D EPARTMENT OF E LECTRICAL AND E...

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