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Solution 3
Homework 3 Solution
CTM Exercises
Essay Question
Homework Solution 3
Solution 3
1 True or False
A) Feedback control can change the poles of a system B) A Feedback control system will always be stable C) Feedback control can change the zeros of a system D) Some feedback control systems operate with no sensor E) A feedback controller can be implemented with a computer F) Feedback control can correct for imperfections in the plant G) Feedback control can correct for disturbances acting on the plant H) Feedback control can correct for imperfections in the sensor True False False False True True True False
Homework Solution 3
Solution 3
Root Locus
0.4
0.3
0.6
0.2
Imaginary Axis
0.1
0.36
0.1
0.2
0.3
0.6
0.4
0.5
0.4
0.3
0.2
Real Axis
0.1
0.1
Figure 1: Root locus plot, P-type control. >> numc=[Kp]; >> denc=[m (b+Kp)]; >> t=0:0.1:20; >> figure(2), clf >> >> step(u*numc,denc,t) axis(AxisStep)
Step Response 12
10
8 Amplitude
10 Time (sec)
12
14
16
18
20
Homework Solution 3
Solution 3
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Lag Controller %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% >> m = 1000; b = 50; u = 10; >> Zo=0.3; Po=0.03; >> numo=[1 Zo]; >> deno=[m b+m*Po b*Po]; >> figure(3), clf >> >> >> rlocus(numo,deno) axis(AxisRL) sgrid(0.6,0.36)
0.4
0.3
0.6
0.2
Imaginary Axis
0.1
0.36
0.1
0.2
0.3
0.6
0.4
0.5
0.4
0.3
0.2
Real Axis
0.1
0.1
Figure 3: Root Locus Plot, lag control. >> axis(AxisRL) >> sgrid(0.6, 0.36)
>> t=0:0.1:20; >> numc=[Kp Kp*Zo]; >> denc=[m b+m*Po+Kp b*Po+Kp*Zo]; >> figure(4), clf >> step(u*numc,denc,t) >> axis(AxisStep)
Homework Solution 3
Solution 3
Step Response 12
10
8 Amplitude
10 Time (sec)
12
14
16
18
20
Figure 4: Step response plot, lag-type control. Extra Credit (5 points): Modify your code to build LTI models (made with the tf() command) and use the LTI model with each rlocus() and step() command. Answer: (Note to grader: This is one implementation with LTI models. Any implementation utilizing LTI models (for example, made with tf command) for the rlocus, rlocnd and step commands is acceptable for full credit. Plots should agree with those above.) (Only the distinct commands for LTI modeling are indicated here.) >> Gps = tf(1, [m, b]) Transfer function: 1 ----------1000 s + 50 >> >> >> >> >> >> >> Gcs = tf(1, 1); figure(1), clf rlocus (Gcs*Gps) [Kp, poles]=rlocfind(Gcs*Gps) Try = feedback(Kp*Gcs*Gps, 1) figure(2), clf step(u*Try)
Homework Solution 3
Solution 3
Zo=0.3; Po=0.03; Gcs = tf([1 Zo], [1 Po]) figure(3), clf rlocus (Gcs*Gps) axis(AxisRL) sgrid(0.6, 0.36) [Kp, poles]=rlocfind(Gcs*Gps) Kp = 1.2836e+03
>> t=0:0.1:20; >> Try = feedback(Kp*Gcs*Gps, 1) Transfer function: 1284 s + 385.1 ------------------------1000 s^2 + 1364 s + 386.6 >> >> figure(4), clf step(u*Try)
+ -
e(t) Kc Gc(s)
u(t) Gp(s)
y(t)
ys(t) Figure 5: Block diagram of a feedback control system. For each transfer function: (1) Fill in the values in the table, as shown in the example (2) Draw a hand sketch showing only the centroid and the asymptotes (3) Hand sketch the root locus. Finally, verify your root locus sketch in matlab, adjust your sketch as needed for correctness. (Turn in items 1-3 for each transfer function, do not turn in Matlab plots). Homework Solution 3
(Revised: Feb 16, 2012) Page 6
Solution 3
(Note to grader: students should include hand sketches. Computer-drawn graphs are shown here. Student graphs should be qualitatively similar, but as sketches, need not be exactly the same.) Poles 3.A 3.B 3.C 3.D 3.E -5, -3 -5, -3 0, 0, -8 0, 0, 0, -8 0, 0, -8, -20 Zeros -10 -3 -3 -3, -3 n 2 2 3 4 4 m 0 1 1 1 2 NA 2 1 2 3 2 Centroid c -4 2 -2.5 -1.67 -11 Stable for all values of Kc ? yes yes yes no yes Oscillatory Kc yes no yes - (or no) yes
Asymptotes 3
Root Locus
3
2
1
Imaginary Axis
Imaginary
3 6
3 Real
3 6
3
Real Axis
(a) Asymptotes
Homework Solution 3
Solution 3
Asymptotes 8
Root Locus
8
6
6
4
4
2
Imaginary Axis
Imaginary
8 35
30
25
20
15 Real
10
8 35
30
25
20
15
Real Axis
10
(a) Asymptotes
Figure 7: Asymptotes and root locus, Eqn (1). C) Gc (s) = 1 , G p (s) = (s + 3) s2 (s + 8) (3)
Asymptotes 25 25 20 20 15 15 10
Imaginary Axis (seconds )
1
Root Locus
10 5 0 5 10 15 20 25 9
5 Imaginary 0 5 10 15 20 25 9
4 Real
3
1
(a) Asymptotes
Homework Solution 3
Solution 3
Asymptotes 15 15 10 10
Root Locus
5 Imaginary
10
10
15 20
15
10
5 Real
10
15 20
15
10
5
Real Axis (seconds1)
10
(a) Asymptotes
Figure 9: Asymptotes and root locus, Eqn (1). E) Gc (s) = (s + 3) , (s + 20) G p (s) = (s + 3) s2 (s + 8) (5)
Asymptotes 50
Root Locus
50
40
40
30
30
20
20
Imaginary Axis
10 Imaginary 0 10 20 30 40 50 25
10 0 10 20 30 40 50 25
20
15
10 Real
20
15
10
Real Axis
(a) Asymptotes
Homework Solution 3
Solution 3
4 Text problems,
A) Problem 6.2 Answer: (Note to grader: part (b) calls for a qualitative assessment. Any response based on the data can be marked correct.) A.1) Calculate the Mag and Phase of G (s) = 1 2 5 10 20 50 100 Mag 0.0995 0.0981 0.0894 0.0707 0.0447 0.0196 0.0100 1 s + 10 dB -20.0 -20.2 -20.97 -23.0 -29.99 -34.14 -40.04 Phase 11.31o 26.57o 63.43o 78.69o 84.29o 45o 5.71o
0 dB LF Asymp -20 dB
H F As
-40 dB
ym p
0.10
1.0
10
100
LF Asymp
HF Asymp -90
0.10
1.0
10
100
Figure 11: Sketch of Asymptotes A.2) The magnitude curve agrees quite well. The phase curve agrees well at = 1 and = 100 [radians/second] Homework Solution 3
(Revised: Feb 16, 2012) Page 10
Solution 3
B) Problem 6.3, (a, c, f, i) Answer: (Only matlab plots shown here, students should include both hand sketches and matlab plots. Hand sketches should qualitatively agree with matlab plots).
Problem 6.3a 50 50 Problem 6.3c
50
50
100
100 90
150 90
Phase (deg)
135
180
180 1 10
10
10 Frequency (rad/sec)
10
270 2 10
10
10 10 Frequency (rad/sec)
10
10
6.3 (a)
Problem 6.3f 100 50 Magnitude (dB) Magnitude (dB) 100 0 50 100 150 0 200 90 50
6.3 (c)
Problem 6.3i
150
90
90
180
180
270 3 10
10
10
10 Frequency (rad/sec)
10
10
10
270 2 10
10
10 10 Frequency (rad/sec)
10
10
6.3 (f)
6.3 (i)
Homework Solution 3