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filled8 - ME 475 Handouts - Spring 2011 Effect of Parameter...

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ME 475 Handouts - Spring 2011 1 Slide 1 ME 475 Session 8: Sensitivity Galen King Purdue University Effect of Parameter Errors on System Response Model: where and is the nominal value based on motor data sheet Objective: make output ϖ (t) follow specified reference ϖ d (t) at steady state with uncertainty in K m 1 s K m m + τ V(s) ϖ (s) m m m K 1 . 1 K K 9 . 0 m K Slide 2 ME 475 Session 8: Sensitivity Galen King Purdue University Open-Loop Control K 0 ϖ d (s) ϖ (s) V(s) Controller Motor 1 s K m m + τ
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ME 475 Handouts - Spring 2011 2 Slide 3 ME 475 Session 8: Sensitivity Galen King Purdue University Open-Loop Control Apply the Final Value Theorem (FVT): ( 29 = ϖ = ϖ s s lim 0 s ss dss m m dss m m dss ss dss ss K K 1 K K e loop open ϖ - = ϖ - ϖ = ϖ - ϖ = Slide 4 ME 475 Session 8: Sensitivity Galen King Purdue University Closed-Loop Control Controller Motor Sensor K 0 Pre-filter ϖ d (s) K 0 1 s K m m + τ V(s) ϖ (s) m p K /K + - Convert to a unity feedback block diagram.
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filled8 - ME 475 Handouts - Spring 2011 Effect of Parameter...

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