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Control Systems

Discuss a topic related to control systems.

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2 views18 pages

Control Systems

Discuss a topic related to control systems.

Uploaded by

balaaruniwant250002
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 PPT, PDF, TXT or read online on Scribd
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CONTROL SYSTEMS

Steady-state error, ess : It indicates the error between the actual output and
desired output as ‘t’ tends to infinity.

e ss  Lt [r ( t )  c( t )]  Lt [ R( S )  C ( S )]
t  S 0

It is seen that steady-state error depends on the input


R(S) and the forward transfer function G(S)H(S).
Static Error Coefficient method

Steady-state error, with unit step input


Steady-state error, with unit ramp input
Steady-state error, with unit parabolic input
Drawbacks of Static Error Coefficient method

1. It does not show the variation of error with time


2. It is calculated for standard inputs
Dynamic Error Coefficient

It gives error as a function of time.

In this method, the error is given by

C 0  Lt F ( S )
S 0

d 1
C1  Lt F(S) F(S) 
S  0 dS
1  G( S ) H ( S )
dn
C n  Lt n
F(S)
S  0 dS
Pb.5 A unity feedback system is characterized by the
open-loop transfer function G ( S )  1
S (0.5 S  1)(0.2 S  1)
Determine the steady state error for unit step, ramp
and parabolic inputs using static error coefficients

Pb.6 Consider a unity feedback system with a closed-


loop transfer function C(S) KS  b

R( S ) S 2  aS  b
Determine the O.L.T.F G(S). Show that steady state
error with unit ramp input is given by a  K
b
Pb.7 A unity feedback system has the open-loop
transfer function G( S ) 
K 1 ( 2 S  1)
S (5 S  1)( S  1) 2
Determine the minimum value of K1 so that the steady
error is less than 0.1.

Pb.8 Determine the steady state errors for a system that has
the open loop transfer function
Controllers
Controller is used to reduce the deviation (i.e. error) between actual
output and desired value.
Controller output is directly proportional to error
The following fig illustrates the type of issues that
determine whether P, PI or PID control is selected for a
particular system, the choice generally being restricted to
these three types of control law.
With P controller, increasing the controller gain speeds up the
response to changes in inputs and decreases, but does not
eliminate, the output offset.

With PI controller, The presence of integral control eliminates


steady-state offsets and this is generally an important feature
required in a control system.

With PD controller, Derivative control has the controller


effectively anticipating the way an error signal is growing and
responding as the error signal begins to change. (i.e. improves
transient respone of the system). Adding derivative control to
proportional control still leaves the output steady-state offset.
1. Obtain torque-voltage and torque-current analogous electrical systems.

2. A unity feedback system has open loop transfer function G ( S )  400


S (1  0.1 S )
Determine the steady state error for the following inputs
i) r(t)=5t.
ii) r(t)=(1+t)2

3. Draw the root locus of the system whose GH is given below. Determine
the Open Loop gain K at desired closed loop pole whose damping ratio is
0.44.

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