MECH 466 - Lecture21-LeadLagDesigninFrequencyDomain-2009W

6 csc s 15 1 ramp responses pm12deg g11 cs0286 cs0286

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Unformatted text preview: re crossover frequencies.) 0 0 2008/09 5 10 67 69 69.2 69.4 69.6 69.8 70 15 MECH466 : Automatic Control 27 2008/09 MECH466 : Automatic Control 28 7 After lead-lag C(s) design After lead-lag-gain C(s) design 50 50 0 Increased We recover the gain loss -50 at gain crossover freq. -100 by adding a gain. 10 -2 10 -50 -100 -1 10 0 10 1 10 2 10 -100 -2 10 -1 10 0 10 1 10 2 -100 -150 -150 -200 PM=51 -200 -250 10 0 -250 -2 10 2008/09 -1 10 0 10 1 10 2 MECH466 : Automatic Control 10 29 10 2008/09 Step responses (Lead-lag) -1 10 0 10 1 10 2 MECH466 : Automatic Control 30 Ramp responses (Lead-lag) C(s)=1 C(s)=1 2 -2 70 C(s)=0.286 C(s)=0.286 69.5 C(s)=CLag(s) C(s)=C (s) 1.5 C(s)=4CLead(s)CLag(s) C(s)=4C 69 Ramp reference C(s)=1 (Kv=2) C(s)=1 Kv=2) 68.5 1 C(s)=0.286 C(s)=0.286 68 C(s)=4CLead(s)CLag(s) C(s)=4C (Kv=8) Kv=8) 0.5 67.5 0 0 2008/09 5 10 67 69 15 MECH466 : Automatic Control 31 2008/09 (Kv=0.572) (Kv=0.572) C(s)=CLag(s) (Kv=2) C(s)=C (s) (Kv=2) 69.2 69.4 69.6 69.8 70 MECH466 : Automatic Control 32 8 Summary and exercise Teaching evaluation On-line syst...
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This document was uploaded on 03/05/2014 for the course MECH 466 at The University of British Columbia.

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