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Adv Contrl Tut 1

For a system with the transfer function: KG(jω) = 1/(0.375s + 1)(1 + 0.5jω), the differential equation relating y and u is dy/dt = 0.375y + u. For a DC motor with given parameters, the motor time constant is 30(jω + 3)/(jω(jω + 2)(jω + 4)) and the final speed with 200V applied is 500 rad/s or 4,774 rpm. All open-loop transfer functions given are stable. For a unity feedback system with transfer function G(jω)=(K/ (jω(1 + 3jω)(1 +

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36 views5 pages

Adv Contrl Tut 1

For a system with the transfer function: KG(jω) = 1/(0.375s + 1)(1 + 0.5jω), the differential equation relating y and u is dy/dt = 0.375y + u. For a DC motor with given parameters, the motor time constant is 30(jω + 3)/(jω(jω + 2)(jω + 4)) and the final speed with 200V applied is 500 rad/s or 4,774 rpm. All open-loop transfer functions given are stable. For a unity feedback system with transfer function G(jω)=(K/ (jω(1 + 3jω)(1 +

Uploaded by

Anonymous LFupAa4DU
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© © All Rights Reserved
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Advanced Control

Problem Sheet 1

For the system shown in


the block diagram obtai
1. n the differential equatio
n relating y and u
(eliminating x) and hence
write the transfer function
KG(jω).
a

u
+ ∫ +
+
y
-

b -4 2

A permanent
Viscous magnet
friction: F =0d
2. .c. motor has the follo
wing constants:
Torque cons
Moment of t.: Kt = 0.4 N
nertia: J = m/A
x 10 kg.m Back e.m.f.
Armature res const: Kb = 0
istance: Ra .4 V/rad/sec
300 Ω
1 (1 + 0.5 jω )
(b)
1 + 0.5 jω 1 + 2 jω jω
Calculate the motor tim 30(jω + 3)
a) e constant and the final
jω (jω + 2)(jω + 4)
speed with 200 V d.c. a
pplied.
If the motor is operated
b) from a variable frequen
K
cy a.c. supply,0 calculate
the e jω 1 + 0.1jω 1 + 0.05 jω
frequency at which ther
e is a lag of 30° betwee
n the supply and the m
otor speed.

Draw the Bode diagra


3. m for the following ope
n loop transfer function
s and determine
whether the correspond
ing unity feedback clos
ed loop system is stable
.
(a)
G(s)
( )G(s) =

(c)
G(s) =
( )( )

Open-loop transfer fun


4. ction of a unity feedbac
k position control serv
o is:
θ
( jω ( )(
θ 1 + a. jω Constant ‘a’ must be chosen such that the
) G ( jω highest break frequency of the GLAG occurs
1 + 5a. jω
Determine the value of at least a decade below the frequency ωco.
a) gain Kc for critical stab 1 + 10b. jω Constant ‘b’ must be chosen such that the
1 + 10b. jω
G cros
ility and the phase ( jω maximum phase advance occurs at the
1 1++b.b.jωjω
sover
frequency ωco.
frequency
b) Using the result from (a
) set the gain to give 1
0dB gain margin and sk
etch Bode plot
in amplitude asymptote
form. Refine the plot to
estimate the gain crosso
ver
frequency and hence th
e phase margin
c) Suggest values for the t
ime constants of a phas
e lag compensator whic
h will increase
du a. jω
the gain by factor of 5. =
Sketch the correspondi
ng Bode amplitude plot
2. . τ
5. A unity feedback contr
ol system is represente
d by the following open
loop transfer function:
b) If GM=10dB,then
G( jω) K | KG(jw) | = -10 dB at frequency ω
jω 1 + 3 jω 1 + 30 jω
Plot the Bode magnitud
(a) e and phase diagrams.
Estimate the value of g
ain K G (jω)=
corresponding to 40° p
hase margin and find th
5. ω
e corresponding gain m
argin.
Determine the phase cr
ossover frequency ωco.

(b)
It e characteristic of this s
ropos
ystem by introducing a
ed lag/lead compensation,
impr
with the lag and lead co
ovemponents being as follo
he ws:
spons

)=
LAG

)=
LEAD

(i) Select suitable values f


or the constants ‘a’ and ‘b’
according to the above
criteria.
(ii) Plot the Bode magnitu
de and phase diagrams for
the compensated system, fi
nd
the gain corresponding
to 40° phase margin and de
termine the corresponding
gain margin.

ANSWERS
dy y1
+ by = , KG(
a dt = u bjω
1. dt

(a) = 0.375 s; (b) Final sp


eed = 500 rad/s = 4,774 rp
m; (c) ω = 1.54 rad/s
(a) Stable; (b) Stable; (c)
3. Stable

4. a) Kc=30, ωc=14.1 rad


/s
c (for which phase = – 180°
)
20.log10 | KG(jω) |
= –10 => | KG(jω) | = 0.
316
From the Bode plot (or
by direct calculation) corre
sponding K≈9, giving PM=
34°.
c) Suitable phase lag com
pensator: highest break fre
q. at least a decade below
ωc, DC/HF gain
ratio = 5. For 1 + 0. 71jω
ple: 1 + 3. 57 jω
c
(a) co= 0.11 rad/s, K=0.044
(b) Suggest a=100,b=3 giving K=0.15 for PM=40°.

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