lec11 - Galen King Purdue University amplification. Use...

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Design Example G c R(s) Y(s) Controller Plant + - ) 4 s ( s 4 + Slide 1 ME 475 Session 11: Root Locus Design Galen King Purdue University Design G c to meet the following specs: ζ = 0.707 t s | 2% = 0.667 sec
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Root Locus for Proportional Control Im s j4 j3 j5 j6 Slide 2 ME 475 Session 11: Root Locus Design Galen King Purdue University Re s j2 j1 - j4 - j3 - j2 - j1 - 1 - 2 - 3 - 4 - 5 - 6 - j5 - j6
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Use Angle Criterion for New Design Im s j4 j3 j5 j6 Slide 3 ME 475 Session 11: Root Locus Design Galen King Purdue University Re s j2 j1 - 1 - 2 - 3 - 4 - 5 - 6 - 7 - 8 - 9
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Design PD Controller (Compensator) Slide 4 ME 475 Session 11: Root Locus Design Galen King Purdue University
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Compensated Root Locus Im s j8 j6 j10 j12 Slide 5 ME 475 Session 11: Root Locus Design Galen King Purdue University Re s j4 j2 - j8 - j6 - j4 - j2 - 4 - 8 - 12 - j10 - j12 - 16
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Lead (Lag) Compensator Design The PD controller is not a good design since it tends to amplify higher frequency noise. We want to design a compensator that reduces high-frequency Slide 6 ME 475 Session 11: Root Locus Design
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Unformatted text preview: Galen King Purdue University amplification. Use Angle Criterion for New Design Im s j4 j3 j5 j6 Slide 7 ME 475 Session 11: Root Locus Design Galen King Purdue University Re s j2 j1-1-2-3-4-5-6 Design Lead Compensator Slide 8 ME 475 Session 11: Root Locus Design Galen King Purdue University Compensated Root Locus Im s j8 j6 j10 j12 Slide 9 ME 475 Session 11: Root Locus Design Galen King Purdue University Re s j4 j2-j8-j6-j4-j2-4-8-12-j10-j12-16 Step Response Comparison Step Response 1 1.2 1.4 Slide 10 ME 475 Session 11: Root Locus Design Galen King Purdue University Time (sec.) Amplitude 0.2 0.4 0.6 0.8 1 0.2 0.4 0.6 0.8 PD Lead Check Steady-State Error R(s) Y(s) Controller Plant +-E(s) U(s) ) 4 s ( s 4 + 18 s 6 s 30 + + Slide 11 ME 475 Session 11: Root Locus Design Galen King Purdue University...
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lec11 - Galen King Purdue University amplification. Use...

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