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Seminar 9 Sol PDF

1. The document presents two methods for determining the parameters of a PI controller for a system with feedback error e(t) = -2S(t). Method 1 involves equating time domain expressions for the control signal and Method 2 involves equating expressions in the s-domain. Both methods result in the parameters Kc = -3 and τI = 5. 2. For a second system, the document analyzes: a) the closed loop transfer function, b) the steady state output, c) the steady state error, and d) determines the closed loop system will oscillate based on the poles. 3. A third system is analyzed for a setpoint step change and disturbance step change.

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Raya Najiba Troyee
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59 views2 pages

Seminar 9 Sol PDF

1. The document presents two methods for determining the parameters of a PI controller for a system with feedback error e(t) = -2S(t). Method 1 involves equating time domain expressions for the control signal and Method 2 involves equating expressions in the s-domain. Both methods result in the parameters Kc = -3 and τI = 5. 2. For a second system, the document analyzes: a) the closed loop transfer function, b) the steady state output, c) the steady state error, and d) determines the closed loop system will oscillate based on the poles. 3. A third system is analyzed for a setpoint step change and disturbance step change.

Uploaded by

Raya Najiba Troyee
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Problem 1:

Feedback Error
e(t )  ysp  ym (t )  ym  ym (t )   ym '(t )  2S(t)
Control signal (from the plot)
p '(t )  6  1.2 t for t 0

Method 1: time domain relation


PI controller is defined by
 1 t   1 t 
p '(t )  p(t )  p  K c e(t ) 
 I 0 e( )d   Kc 2   I  (2S (t ))d 
0

 2t  2 K ct
 K c  2    2 K c  for t  0
 I  I
Let the results equal, we get
 2Kc
  1.2
 I
2 K  6
 c

Solve and get


 I  5

 K c  3

Method 2: s-domain relation


6 1.2
The control signal: p '(t )  6  1.2 t for t 0  P( s )  
s s2
 1 
PI controller: Gc ( s)  K c 1  
 Is 
2
Feedback error: e(t )  2S(t)  E ( s)  
s
P( s )
For controller Gc ( s )  P( s)  Gc ( s) E ( s)
E ( s)
6 1.2  1  2 
So,  2  Kc 1   
s s  Is  s 
6 1.2 2 Kc 2 Kc /  I
  
s s2 s s2
Let the coefficient equal
 2Kc
  1.2  I  5
 I 
2 K  6  K c  3
 c
Problem 2:
2
1 2 
Y ( s) GcGvG p s( s  1) 4 1
a)    2 1 2 1
Ysp ( s) 1  GcGvG pGm 1  1 2  2 1 s  s  4 4 s  4 s  1
s( s  1)
1 1
b) Ysp ( s)  y '()  lim sY ( s)  lim 1 2 1 1
s, s 0 s0
4 s  4 s  1
c) offset = y 'sp ()  y '()  1  1  0
d) Compute the poles of the closed loop transfer function
1  15 j
s2  s  4  0 , s 
2
Both poles’ imaginary parts are nonzero, so the closed-loop response will be oscillatory.

Problem 3:
Kp
Gc  Kc , Gd  G p  , Gv  1, Gm  1
s
1) Setpoint step change
Kp
GcGvG p Kc
Y ( s)
  s  Kc K p
Ysp ( s ) 1  GcGvG pGm K s  Kc K p
1  Kc p
s
M MKc K p
Ysp ( s )  y '(t  )  lim sY ( s)  lim M
s , s0 s0 s  K K
c p

offset = ysp  y()  ysp ' y '()  M  M  0 , offset can be eliminated


2) Disturbance step change (setpoint unchanged)
Kp
Y ( s) Gd s Kp
  
D( s ) 1  GcGvG pGm K s  Kc K p
1  Kc p
s

M MK p M
D( s )  y '(t  )  lim sY ( s)  lim 
s , s0 s0 s  K K Kc
c p

M
offset = ysp  y ()  ysp ' y '()  0   0 , offset cannot be eliminated
Kc

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