MECH 466 - Lecture8-TimeDomainSpecsandSteadyStateError-2009W

MECH 466 Lecture8--2009W

Info iconThis preview shows page 1. Sign up to view the full content.

View Full Document Right Arrow Icon
This is the end of the preview. Sign up to access the rest of the document.

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...
View Full Document

This document was uploaded on 03/05/2014 for the course MECH 466 at The University of British Columbia.

Ask a homework question - tutors are online