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MECH 466 - Lecture8-TimeDomainSpecsandSteadyStateError-2009W

Unity feedback ramp error velocity error constant

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Unformatted text preview: y- Suppose that we want output y(t) to track r(t). Suppose y(t) r(t). Error Error Steady-state error Steady- Parabolic-error (acceleration-error) constant Parabolic(acceleration- Kp, Kv, Ka : ability to reduce steady-state error Kp, Kv, steady- Final value theorem (Suppose CL system is stable!!!) (Suppose 2008/09 MECH466 : Automatic Control 17 Steady-state error for step r(t) 2008/09 MECH466 : Automatic Control 18 Steady-state error for ramp r(t) Kp Kv 2008/09 MECH466 : Automatic Control 19 2008/09 MECH466 : Automatic Control 20 5 Steady-state error for parabolic r(t) System type System type of CL system is defined as the System order (number) of poles of G(s) at s=0. G(s) Examples Examples type 1 type 2 type 3 Ka 2008/09 MECH466 : Automatic Control 21 2008/09 Zero steady-state error MECH466 : Automatic Control 22 Example 1 If error constant is infinite, we can achieve zero If steady-state error. (Accurate tracking) steady- CL system of type 2 CL For step r(t) For r(t) Characteristic equati...
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