Professional Documents
Culture Documents
Reference Books:
K. OGATA, SYSTEM DYNAMICS, THIRD EDITION, PRENTICE
HALL.
K. OGATA, MODERN CONTROL ENGINEERING, FOURTH
EDITION, PRENTICE HALL.
Department of Mechanical Engineering
Dr. Song
Laplace Transform
Definition:
L[ f (t )] F ( s ) e
0
st
dt[ f (t )]
st
f (t )e dt
L[sin t ] 2
s 2
s
L[cos t ] 2
s 2
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f (t ) sF ( s ) f (0)
dt
d2
L 2 f (t ) s 2 F ( s ) sf (0) f (0)
dt
1 t
dt
s 0
d
dt
s 0
eg , F ( s)
2
s ( s 2 4s 3)
s
2
2
s 0 s ( s 2 4s 3) 3
, lim f (t ) lim
t
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Transfer Function
L[Output ]
L[ Input ] zero initial conditions
Y ( s ) b0 s m b1s m 1 ...... bm 1s bm
X ( s ) a0 s n a1s n 1 ...... an 1s an
eg : G ( s )
( s 3)
( s 1)( s 2)
G(s)
s 1
0.
s.s s
So there is a zero at .
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A Spring-Mass-Damper System
M x kx B x f (t )
Ms 2 X ( s ) BsX ( s ) kX ( s ) F ( s )
X (s)
1
F ( s ) Ms 2 Bs k
Spring,
k
f(t): Input
M
x(t):
Output
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dy
3 y 2r (t )
2
dt
dt
dy
ICs : y (0) 1, (0) 0
dt
r (t ) 1, t 0;
4
3 t 1 3t
e e
2
2
y (t )
2
t 1 3t
1
e
3
3
[ s Y ( s) sY (0)] 4[ sY ( s ) y (0)] 3Y ( s) 2 R( s)
Since R ( s)
1
s
2
3
( s 4)
Y (s)
lim y (t )
( s 2 4 s 3)
2
s( s 2 4 s 3)
( s 1) ( s 3)
Y (s)
1
1/ 3
2/3
( s 1) ( s 3)
s
Y1 ( s ) Y2 ( s ) Y3 ( s )
Department of Mechanical Engineering
Dr. Song
Block Diagrams
C (s)
R(s)
R(s)
G(s)
E(s)
R(s)
+_
C ( s) G ( s) E ( s)
G ( s ) [ R( s ) - H ( s )C ( s )]
G ( s ) R( s ) - G ( s) H ( s) C ( s)
C(s)
C(s)
G(s)
H(s)
C ( s ) [1 G ( s) H ( s)] G ( s ) R( s)
C (s)
G ( s)
R( s) 1 G ( s) H ( s)
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A Thermal System
C d q dt
Heat flow rate:
RC Circuit
V2
RC s ( s ) ( s ) b ( s )
iR V2 V1
V1
d b
dt
R
b
R
d
RC
b
dt
= ambient temperature
dQ
i
, Q CV2
dt
dV
i C 2
dt
dV
RC 2 V2 V1`
dt
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( s )
1
b ( s) RCs 1
RCsV2 ( s ) V2 ( s ) V1 ( s )
V2 ( s)
1
V1 ( s ) RCs 1
R(s)
C(s)
T RC
C (s)
1
R( s) Ts 1
1
C (s)
R(s)
Ts 1
1 1
Ts 1 s
1
T
(Partial fraction expansion)
s Ts 1
1
1
s s (1/ T )
C (s)
R( s) 1
1
Ts 1
1/ T
s (1/ T )
c(t )
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1
T
re
for t 0
s1
im
Ts 1 0
Characteristic Equation:
for t 0
10
for t 0
1 t / T
e
T
for t 0
5%
13.5%
36.8%
c(t ) 1 et / T
11
1
T
T: Time Constant
or,
Time Constant =
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12
Viscous friction
coefficient, B
Output
C(s)
Input
R(s)
or
B
2 Jk
s 2 2 n s n2 0
The roots or the poles: three different situations.
0 1,
n2
C ( s)
R( s ) s 2 2 n s n2
k
J
Characteristic Equation:
Transfer Function
C ( s)
k
2
R ( s ) Js Bs k
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1,
1,
13
n2
C ( s)
R ( s ) s n j d s n j d
Unit Step Input:
R(s)
s n j d
1
s
- n
x
Using Partial Fraction Expansion and ILT, we have:
c (t ) 1 e nt (cos d t
sin d t )
Time constant,
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re
cos =
1
n
14
( 1)
3. Overdamped Case
Poles: s1,2 n
n2
C (s)
R( s) (s n )2
s1 n n 2 1
s2 n n 2 1
R( s )
n2
C (s)
R ( s ) s s1 s s2
1
s
c (t ) 1 e nt (1 nt )
xx
1
s
Using Partial Fraction Expansion and ILT, we have:
R( s)
im
e s1t e s2t
c(t ) 1
2 s1
s2
2 1
im
o
re
o
Two distinct real poles
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re
15
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Natural
frequenc
y
increases
Damping ratio increases
Time constant decreases
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17
Important
re
Loci of Constant Time Constant
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Piezo Patches
Function Generator
Oscilloscope
1
x1
2
4
ln x
n
Power Amplifier
PC with data
acquisition and real
time control system
8
x1
1
x1
ln
n 1
xn
2
4
2
xn
d 1.6066Hz.
-2
-4
Using n
-6
0
10
Time (second)
15
20
st
1
2
Characteristic Equation:
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d 2
n 1
t n t1
+_
G(s)
Angle condition:
C(s)
Magnitude condition:
H(s)
| G ( s) H ( s) | 1
C (s)
G ( s)
R( s) 1 G ( s) H ( s)
1 G ( s) H ( s) 0
or
G ( s ) H ( s ) 1
K ( s z1 )( s z2 )......( s zm )
0
( s p1 )( s p2 )......( s pn )
G (s) H (s)
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K ( s z1 )( s z2 )......( s zm )
( s p1 )( s p2 )......( s pn )
21
Definition: The loci of the roots of the characteristic equation, or the closed-loop poles,
when the value of the gain K varies from 0 to infinity.
Application: To assist control system design. Root locus plot offers a clear map between
the value of gain K and the closed-loop systems stability and performance.
The values of s that fulfill both the angle and magnitude conditions are the roots of the
characteristic equation, or the closed-loop poles. Therefore we can use the open-loop
information to plot the root loci of the closed-loop system.
A plot of the points in the complex plane satisfying the angle condition alone is the root
locus since the gain K can be any value from 0 to infinity. The roots of the characteristic
equation corresponding to a given value of the gain can be determined from the
magnitude condition.
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Bode Diagram
As we know, a smart structure system, such as the flexible beam with PZT patches,
responds differently to sinusoidal input with different frequencies. The sinusoidal
transfer function is used to study sinusoidal response of the system.
The sinusoidal transfer function of G(s) is obtained by replacing s by j. G(j) is the
sinusoidal transfer function.
A sinusoidal transfer function may be represented by two separate plots, one giving the
magnitude versus frequency and the other the phase angle (in degrees) versus frequency.
A Bode diagram consists of two graphs: One is a plot of the logarithm of the magnitude
of a sinusoidal transfer function; the other is a plot of the phase angle; both are plotted
against the frequency in logarithmic scale.
The standard representation of the logarithmic magnitude of G(j) is 20log| G(j)| ,
where the base of the logarithm is 10.
The unit used in this representation of the magnitude is the decibel, usually abbreviated as dB.
The main advantage of using the Bode diagram is that multiplication of magnitudes can be converted
into addition. Furthermore, a simple method for sketching an approximate log-magnitude curve is
available. It is based on asymptotic approximations. Such approximation by straight line asymptotes
is sufficient if only rough information on the frequency-response characteristics is needed. Note that
the experimental determination of a transfer function can be made simple if frequency-response data
are presented in the form of a Bode diagram.
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23
n2
( j )2 2 n j n2
1
j n 2 2 j n 1
M r 1 2 1 2
Bode Diagram of a 2nd-order System
24
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Controller
1
Js 2 bs
C(s)
Assuming R(s) = 0
If open-loop,
C(s)
1
2
, unstable
D(s) Js bs
If with P control,
C(s)
1
2
D(s) Js bs K p
Controller = Kp
E (s)
C(s)
1
2
D(s)
D(s)
Js bs K p
s 0
Td
T
s
1
d
Js bs K p s
Kp
Kp
2
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With P control, the system now is closed-loop and become stable when subject to
disturbances.
Generally, the higher Kp gain, the less steady state error
Generally, the higher Kp gain, the more oscillations the system will experience.
D(s)
E (s)
1
K p 1
Ti s
A PI controller
s
Js 3 bs 2 K p s
Kp
Ti
s
K
Js bs K p s p
Ti
3
D( s)
Controller =
s 0
s2
1
0
K
s
Js 3 bs 2 K p s p
Ti
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controller =
K p 1 Td s
A PD controller
C(s)
1
2
D(s) Js (b K p Td )s K p
E (s)
C(s)
D(s)
D(s)
1
Kp
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0.5
0.4
0.3
0.2
0.1
Voltage
-0.1
-0.2
-0.3
-0.4
-0.5
0.5
1.5
2.5
Time
3.5
4.5
Free Vibration
Time history of the Plate vibration with PD control
0.5
0.4
0.3
0.2
Voltage
0.1
0
-0.1
-0.2
-0.3
-0.4
-0.5
0.5
1.5
2
Time
2.5
3.5
With PD Control
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With PD Control
-5
3.5
-10
Position(mm)
Position(cm)
2.5
2
-15
-20
-25
1.5
-30
-35
-40
0.5
0
Position(mm)
-45
0
Voltage (V)
10
15
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10
15
Time(sec)
20
25
30
30
Gc ( s ) K c
o
-z1
Piezo Patches
Function Generator
s z1
,
s p1
p1 z1
Oscilloscope
G(s)
Power Amplifier
PC with data
acquisition and real
time control system
12.5
s 2 0.24 s 101
31
s 0.05
s 4.99
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The compensated system has a lower resonant peak value than the uncompensated system. This
indicates the compensated system has a higher damping ratio.
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The vibration of the compensated system dies much faster than that of the uncompensated
system. The lead compensator is effective in increasing damping of the system.
Department of Mechanical Engineering
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35
Free Vibration
(multiple modes excitation)
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36
n2
s 2 2 n s n2
Y(s)
Gn2
c2
1
s 2 cc s c2
2
PPF Compensator
Flexible Beam
Function Generator
G(s)
Oscilloscope
12.5
s 2 0.24 s 101
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PPF Logic
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SRF Logic
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