filled7 - ME 475 Spring - 2011 Steady-State Error -...

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ME 475 Spring - 2011 1 Slide 1 ME 475 Session 7: Steady-State Error Galen King Purdue University Steady-State Error - Servotable Controller Plant Sensor K v Pre-filter Θ d (s) K v Θ (s) + - K p G m N(s) T D (s) + + + + m m m K G (s) s( s 1) = τ + For T D = 0: For Θ d = 0: Slide 2 ME 475 Session 7: Steady-State Error Galen King Purdue University Steady-State Error - Servotable For T D = 0: For Θ d = 0: d E(s) (s) (s) = Θ - Θ
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ME 475 Spring - 2011 2 Slide 3 ME 475 Session 7: Steady-State Error Galen King Purdue University Steady-State Error For now, focus on unity feedback systems: G R(s) Y(s) + - E(s) Slide 4 ME 475 Session 7: Steady-State Error Galen King Purdue University Steady-State Error steady-state error: (use Final Value Theorem)
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ME 475 Spring - 2011 3 Slide 5 ME 475 Session 7: Steady-State Error Galen King Purdue University Typical Reference Inputs unit step (constant position) r(t) = u(t) unit ramp (constant velocity) r(t) = t unit parabolic (const. acc.) In general,
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This document was uploaded on 03/31/2011.

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filled7 - ME 475 Spring - 2011 Steady-State Error -...

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