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Tutorial 9 Solutions 2022

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18 views

Tutorial 9 Solutions 2022

Uploaded by

Lachie Jones
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Tutorial 9

1. Consider Bode diagram and transfer function of an open loop transfer


function as follows,
a) Use a lead controller so that the static velocity error constant 𝐾𝑣 is
30 𝑠𝑒𝑐 −1 and the phase margin is at least 40 degrees.
b) Use a lag controller to satisfy the same design criteria as in part a.
Tutorial 9
1. (Continued)
Tutorial 9
1. (Continued)

a)

Step 1 : Find static velocity error constant 𝐾𝑣 :

Not satisfied

Step 2 : Use a proportional controller to compensate the error constant:


Tutorial 9
1. a) (Continued)

Step 3 : Find the new Bode diagram of 𝐺𝑐 𝑠 𝐺(𝑠) (try to find the new
diagram from the original plot):

New Bode diagram can be plotted by shifting the magnitude plot +20 dB
up and keeping the phase plot unchanged.
Tutorial 9
1. a) (Continued)
Step 4 : Find the new phase margin of 𝐺𝑐 𝑠 𝐺 𝑠 :

New 0 dB.

New P.M. = 18°


(a new controller
should be
designed)
Tutorial 9
1. a) (Continued)
𝛼𝑇𝑠+1
Step 5 : Define a lead controller: ,𝛼 >1
𝑇𝑠+1

Step 6 : Find the phase deficiency 𝜙:

Step 7 : Find the phase deficiency 𝜙max by adding 20% more to 𝜙:

𝛼−1
Step 8 : Find 𝛼 such that sin 𝜙max =
𝛼+1
Tutorial 9
1. a) (Continued)
Step 9 : Find the frequency 𝜔𝑚 which gives us the angle 𝜙max :

1
Step 6 : Find 𝑇 such that 𝜔𝑚 =
𝑇 𝛼
Tutorial 9
1. a) (Continued)
Tutorial 9
1. b) To design a lag controller, start from the Step 5 in part a).
𝑇𝑠+1
Step 5 : Define a lag controller: ,𝛼 >1
𝛼𝑇𝑠+1

Step 6: Determine the frequency 𝜔′ where the phase margin requirement


would be satisfied if the magnitude curve crossed the 0 dB line at 𝜔′ .
Determine the required magnitude contribution 𝑀 from the lag controller
in dBs at 𝜔′ by noting that the lag controller and the system from the
Bode diagram in series will have a magnitude of 0 dB at 𝜔′.
Tutorial 9
1. b) (continued)
Step 6 : Amount of the magnitude in
dB that we need to move
magnitude plot down.

12 dB
New 0 dB
(after
applying the
proportional
controller)

P.M. = 40° (desired P.M.)


Tutorial 9
1. b) (continued)
Step 7 : Add more dB to 𝑀

Step 8 : Find 𝛼

Step 9 : Find the dominant pole

Step 10 : Find the location of the pole of the lag controller:

Step 11 : Find the transfer functions


Tutorial 9
1. b) Step 9 : Check whether requirements are satisfied otherwise
increase 𝑀𝑚𝑎𝑥 = 1.1𝑀 to 𝑀𝑚𝑎𝑥 1.2𝑀 and redo the steps.
Tutorial 9
2.

Type of the system is zero so the velocity error constant, 𝐾𝑣 = 0. To satisfy the
steady-state requirement we need to first increase the type of system at least one
order and use a gain to satisfy 𝐾𝑣 = 30. Therefore an integrator controller can be
designed to satisfy the steady-state requirement, i.e.,

The rest is similar to the Step 3 of Question 1.


Tutorial 9
3. a) Number of poles of the open loop
transfer function on the right half of the
𝑠-plane.
Draw a line to find the value of 𝑁−1 .

Number of roots of
characteristic equation
of the closed loop
system on the right half
of the 𝑠-plane.

Number of clockwise
encircling of the Nyquist plot
around point −1.

The closed loop system is stable.


Tutorial 9
3. a)

The closed loop system is stable.


Tutorial 9
3. c)
Find 𝑃 directly from roots of the denominator or
using the Ruth-Hurwitz method.

𝑠3 1 3
𝑠2 3 1
𝑠1 8 0
3
𝑠0 1 0

No sign change, so no pole on the right half of the


𝑠-plane. Therefore, 𝑃 = 0

The closed loop system is unstable.


Tutorial 9
4. a)
The closed loop system is unstable.

b)
The closed loop system is stable.

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