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MECH 466 - Lecture8-TimeDomainSpecsandSteadyStateError-2009W

Typically 25 2 200809 amplitude remark there is no

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Unformatted text preview: Remark: this case, so peak value, peak time and percent overshoot cannot be defined. Fast response Large percent overshoot Fast Large Large percent overshoot small stability margin Large small 1.5 We need to take trade-off between response We tradespeed and stability. 1 0.5 0 0 2 4 6 Tim (sec) e 8 10 MECH466 : Automatic Control 12 13 2008/09 MECH466 : Automatic Control Performance measures Transient response Transient Peak value Peak Peak time Peak Percent overshoot Percent Delay time Delay Rise time Rise Settling time Settling Course roadmap Modeling (Next lecture) Analysis Laplace transform Transfer function We will connect these measures with s-domain. s- Models for systems • electrical • mechanical • electromechanical Steady state response Steady Steady state error Steady 14 Linearization Time response • Transient • Steady state Frequency response • Bode plot Stability • Routh-Hurwitz Routh• Nyquist Design Design specs Root locus Frequency domain PID & Lead-lag LeadDesign examples (Today’s lecture) (Today’ Matlab simulations & laboratories 2008/09 MECH466 : Automatic Control 15 2008/09 MECH466 : Automatic Control 16 4 Steady-state error Error constants Step-error (position-error) constant Step(position- We assume that the CL system is stable! Unity feedback! Ramp-error (velocity-error) constant Ramp(velocit...
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