MECH 466 - Lecture22-DesignExamples-2009W

Head arm track following head track pivot follows a

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Unformatted text preview: Actual head position Sensor (H(s)=1) H(s)=1) Samsung HG501LJ 2008/09 Coil G1(s) Controller C(s) C(s) 2008/09 MECH466 : Automatic Control 30 Specifications in this example Open loop transfer function Open Track seeking: For unit step reference r(t): Track r(t): (1) Percent overshoot < 5% (2) 1% settling time < 50ms Track following: For unit step disturbance d(t): Track d(t): From R(s) (reference) to Y(s) From R(s) Y(s) (3) Maximum response < 0.005 C(s) C(s) From D(s) (disturbance) to Y(s) From D(s) Y(s) 2008/09 MECH466 : Automatic Control 40 31 2008/09 (1) % 4.6 (2) ms 470 (3) 0.0052 MECH466 : Automatic Control PM deg 65 ωg rad/s 9.1 32 8 Step responses for gain C(s) A satisfactory lead-lag C(s) Gain plot From R(s) to Y(s) R(s) Y(s) 1.4 1.2 1.5 0 1 -50 0.5 0.02 P.O. should be <5% Settling time should be <50ms Lead C(s) C(s) Max. response to unit d(t) d(t) should be <0.005 0.015 1 0.8 0.01 0.6 Gain C(s) C(s) We cannot find a satisfactory gain C(s). C(s). C(s)=10 C(s)=10 0.4 0.5 1 (sec) 10 1 10 3 0 0 Phase plot 5 x 10 0.05 -3 0.1 0.15 0.2 y(t) for step d(t) 4 3 -150 2 -200 1.5 2 0 0 MECH466 : Automatic Control 0.5 1 1.5 (sec) 2 33 1 -250 0 10 2008/09 10 1 10 2 0 3 0 0.05 10 MECH466 : Automatic Control 0.1 0.15 0.2 34 Summary y(t) for step r(t) Case study Case Antenna azimuth position control Antenna 1 (“Control Systems Engineering” by Nise.) Engineering” Nise.) Hard disk drive control Hard 0.8 (“Modern Control Systems” by Dorf and Bishop) Systems” P.O should be <5% Settling time should be <50ms 0.6 • Modeling • Analysis • Design of lead-lag compensators (A Matlab code is leadposted on WebCT.) WebCT.) 0.4 0.2 2008/09 2 -50 Step response for r(t) 0 0 10 0.005 C(s)=80 C(s)=80 2008/09 -100 0 10 -100 C(s)=40 C(s)=40 0.2 0 0 y(t) for step r(t) 50 From D(s) to Y(s) D(s) Y(s) Next is the last lecture! Next 0.01 0.02 0.03 MECH466 : Automatic Control 0.04 0.05 (sec) 35 2008/09 MECH466 : Automatic Control 36 9...
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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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