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Performance Enhancement of Dynamic Systems

The document describes a control system problem involving a pantograph dynamics model. Students are asked to: 1) Identify the control system type and explain its conditional stability using root locus asymptotes. 2) Sketch the root locus and identify critical points. 3) Obtain Bode and Nyquist plots to determine gain and phase margins. 4) Design a controller to achieve 38% overshoot and estimate the response. 5) Design a cascade lag compensator to improve steady state error without affecting overshoot.

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Del Valle Sarmiento
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63 views

Performance Enhancement of Dynamic Systems

The document describes a control system problem involving a pantograph dynamics model. Students are asked to: 1) Identify the control system type and explain its conditional stability using root locus asymptotes. 2) Sketch the root locus and identify critical points. 3) Obtain Bode and Nyquist plots to determine gain and phase margins. 4) Design a controller to achieve 38% overshoot and estimate the response. 5) Design a cascade lag compensator to improve steady state error without affecting overshoot.

Uploaded by

Del Valle Sarmiento
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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A block diagram representation of a pantograph control system is given

below.
a. What is the type of this control system?
b. Is this a conditionally stable system? (the answer is ‘yes’) Explain
why using the asymptotes of root locus
c. Sketch a root locus. Determine all critical points (imaginary root,
break-in & break-off points, arrival and departure angles where
applicable, multiple roots if any, and the corresponding values of K)
d. Obtain the Bode and Nyquist plots and determine the gain and phase
margins (you may use Matlab). Interpret these margins in terms of the
parameter K.
e. Find the gain K to yield a closed loop response that has a 38% over
shoot.
f. Estimate the dominant settling time and damping ratio for the
response designed in (e).
g. Use matlab to plot the closed loop step response for the value of K
found in (e). Compare these values to those predicted in (f).
h. Design a cascade lag compensator to improve the steady state error by
the team-specific (given below) factor without appreciably affecting
the % OS.
i. Compare the responses of the designs (e) and (h), showing clearly the
improvement in steady state error.

Pantaograph
controller actuator dynamics
spring
Fin K 1 Fout
D
100
D
1000 GD
( s) DD
82300
D D D D

0.7883( s 53.85)
G( s) 2
(s 15.47 s 9283)( s 2 8.119s 376.3)
Team factor
A 5
B 8
C 10
D 12
E 15
F 20
G 18
H 16
I 11
J 9
K 19
L 5
M 7
N 9
O 6

________________________________________________________________________

Grade distribution:

a: 5%
b: 5%
c: 15%
d: 20%
e: 20%
f: 5%
g: 5%
h: 20%
i: 5%

Report: 10%
==========
Total: 110%
________________________________________________________________________

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