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Lec07 - Steady-State Error Servotable d(s Pre-filter...

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Steady-State Error - Servotable Controller Plant Sensor K v Pre-filter Θ d (s) Θ (s) + - K p G m T D (s) + + + K Slide 1 ME 475 Session 7: Steady-State Error Galen King Purdue University K v N(s) + m m m G (s) s( s 1) = τ + For T D = 0: For Θ d = 0:
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Steady-State Error - Servotable For T D = 0: d E(s) (s) (s) = Θ - Θ Slide 2 ME 475 Session 7: Steady-State Error Galen King Purdue University For Θ d = 0:
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Steady-State Error For now, focus on unity feedback systems: G R(s) Y(s) + - E(s) Slide 3 ME 475 Session 7: Steady-State Error Galen King Purdue University
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Steady-State Error steady-state error: (use Final Value Theorem) Slide 4 ME 475 Session 7: Steady-State Error Galen King Purdue University
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Typical Reference Inputs unit step (constant position) r(t) = u(t) unit ramp (constant velocity) r(t) = t Slide 5 ME 475 Session 7: Steady-State Error Galen King Purdue University unit parabolic (const. acc.) In general, 2 t 2 1 ) t ( r = n t ! n 1 ) t ( r =
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Steady-State Error Evaluate e ss for each input: unit step input: ss s 0 sR(s) e lim 1 G(s) = + Slide 6 ME 475 Session 7: Steady-State Error Galen King Purdue University unit ramp input: unit parabolic input:
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