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2 - L3-Time Response Analysis

This document discusses time response analysis and error coefficients in control systems. It defines static and dynamic error, and explains that static error does not change over time while dynamic error changes with time. It then discusses three types of standard input signals - unit step, unit ramp, and unit parabolic - that are used to calculate static error coefficients. Specifically, it defines the static position, velocity, and acceleration error coefficients which indicate the steady state error for each of the three input signals. Finally, it introduces dynamic error coefficients which express the error as a function of time rather than just the steady state value.

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8 views

2 - L3-Time Response Analysis

This document discusses time response analysis and error coefficients in control systems. It defines static and dynamic error, and explains that static error does not change over time while dynamic error changes with time. It then discusses three types of standard input signals - unit step, unit ramp, and unit parabolic - that are used to calculate static error coefficients. Specifically, it defines the static position, velocity, and acceleration error coefficients which indicate the steady state error for each of the three input signals. Finally, it introduces dynamic error coefficients which express the error as a function of time rather than just the steady state value.

Uploaded by

abbas1999n8
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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Lecture Three

Time Response Analysis 2021

Time Response Analysis of Control System

Static and Dynamic Error Coefficients

The static and dynamic error coefficients in control systems, we have two types of static error and
dynamic error. The difference between the input and output of the systems is Error, so error can be
expressed as follow:

Error = Input - output

The error is classify into two types, Static error hasn’t change with time so it is called a static or
constant error, whereas the dynamic error is change with time.

For control systems static error can be calculate when we have applied the input as standard test
signals. The three types of standard input signals are Unit Step, Unit Ramp, and Unit parabolic function,
So if the input is one of these standard input signals then the error which obtained is called the static
error, because these functions are not changing with time.

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Lecture Three
Time Response Analysis 2021

Static Error Coefficients


The general block diagram of closed loop control system is

Error signal: e(t) = r(t) – H c(t)

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Lecture Three
Time Response Analysis 2021

By Taking the inverse Laplace transform to calculate the error, we get

Using this equation to calculate the error coefficients for unit step, unit ramp, and unit parabolic.

Unit Step Function constant position Static Position Error Coefficient

Unit Ramp Function constant velocity Static Velocity Error Coefficient

Unit Parabolic function constant acceleration Static Acceleration Error Coefficient

1- Static Position Error Coefficient (Kp)


The Static Position Error Coefficient (Kp) associated with unit step input:

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Lecture Three
Time Response Analysis 2021

By Steady state error means we have to apply the final value theorem in which the final value
theorem is :

2- Static Velocity Error Coefficient (Kv)


The Static Velocity Error Coefficient (Kv) associated with unit Ramp input:

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Lecture Three
Time Response Analysis 2021

3- Static Acceleration Error Coefficient (Ka)


The Static acceleration Error Coefficient (Ka) associated with unit parabolic input:

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Lecture Three
Time Response Analysis 2021

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Lecture Three
Time Response Analysis 2021

Dynamic Error Coefficients


The properties of dynamic error are :
- Don’t provide information on the steady state error when inputs are other
than the basic signals.
- Fail to indicate the exact manner in which error function change with time
or express the error as a function of time.
- The dynamic error express the error as function of time .
Consider a unity feedback system:
The Laplace transform of the error signal is given by the Laplace transform of the
transfer function and the input signal

,there means when we studied the static error coefficients :

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Lecture Three
Time Response Analysis 2021

By Tailor series expansion, Te(s) can be expressed as :

𝑑𝑇𝑒 (0)𝑠 1 𝑑 2 𝑇𝑒 (0)𝑠 2 1 𝑑 3 𝑇𝑒 (0)𝑠 3


𝑇𝑒 (0) = 𝑇𝑒 (0) + + + +⋯
𝑑𝑠 2 𝑑𝑠 2 3 𝑑𝑠 3
So we can express the E(s) as,
𝑑𝑇𝑒 (0)𝑠 1 𝑑 2 𝑇𝑒 (0)𝑠 2 1 𝑑 3 𝑇𝑒 (0)𝑠 3
𝐸(𝑠) = 𝑇𝑒 (0)𝑅(𝑠) + 𝑅(𝑠) + 𝑅(𝑠) + 𝑅(𝑠)
𝑑𝑠 2! 𝑑𝑠 2 3! 𝑑𝑠 3
+⋯

Tacking the inverse Laplace transform, we get

𝑑𝑇𝑒 (0) 1 𝑑 2 𝑇𝑒 (0) 1 𝑑 3 𝑇𝑒 (0)


𝑒(𝑡) = 𝑇𝑒 (0)𝑟(𝑡) + [𝑟′(𝑡)] + [𝑟′′(𝑡)] + [𝑟′′′(𝑡)]
𝑑𝑠 2! 𝑑𝑠 2 3! 𝑑𝑠 3
+⋯
𝑒(𝑡) 𝑖𝑠 𝐷𝑦𝑛𝑎𝑚𝑖𝑐 𝑒𝑟𝑟𝑜𝑟 (𝑒𝑥𝑝𝑟𝑒𝑠𝑠𝑖𝑛𝑔 𝑒𝑟𝑟𝑜𝑟 𝑎𝑠 𝑎 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑡𝑖𝑚𝑒)

𝐶2 ′′(𝑡) 𝐶3
𝑒(𝑡) = 𝐶0 𝑟(𝑡) + 𝐶1 𝑟 ′(𝑡) + [𝑟 ] + [𝑟 ′′′(𝑡) ] + ⋯
2! 3!

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Lecture Three
Time Response Analysis 2021

Where Co, C1, C2, C3 are Dynamic error coefficients

𝐶0 = lim 𝑇𝑒 (𝑠)
𝑠−0

𝑑𝑇𝑒 (𝑠)
𝐶1 = lim
𝑠−0 𝑑𝑠
𝑑 2 𝑇𝑒 (𝑠)
𝐶2 = lim
𝑠−0 𝑑𝑠 2

𝑑 3 𝑇𝑒 (𝑠)
𝐶3 = lim
𝑠−0 𝑑𝑠 3

So the General Dynamic error coefficient is


𝑑 𝑛 𝑇𝑒 (𝑠)
𝐶𝑛 = lim
𝑠−0 𝑑𝑠 𝑛

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