solmidterm05_mae143b

10pt no damping means 0 and with the given formulae of

Info iconThis preview shows page 1. Sign up to view the full content.

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

Unformatted text preview: ωn s + 2βωn s + ωn 2 ωn =2 2 2 s + (2βωn + Kd ωn )s + ωn (1 + Kp ) T (s) = This gives the following relationships: 2 ωn = ωn (1 + Kp ) ¯2 2 ¯¯ 2β ωn = 2βωn + Kd ωn Solving gives ωn = ωn ¯ 2 2 ¯ 2βωn + Kd ωn = 2βωn + Kd ωn = (1 + Kp ) and β = 2¯ n ω 2ωn (1 + Kp ) β+ Kd 2ωn (1 + K p ) . 6. In case the uncontrolled system G(s) in (3) has no damping and a resonance frequency of 1 rad/s, compute the numerical values Kp and Kd of the PD-controller to triple the undamped resonance frequency and bring the damping ratio up to 1/3. [10pt] No damping...
View Full Document

This note was uploaded on 05/27/2010 for the course MAE MAT143B taught by Professor Linearcontrol during the Spring '10 term at UCSD.

Ask a homework question - tutors are online