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Control Notes

simple hand writen documents for control systems

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13 views121 pages

Control Notes

simple hand writen documents for control systems

Uploaded by

jhn330476
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF or read online on Scribd
bk Contrel_tsyavollg taken to mean= reqvlate .ditect or command. wt A sqstem ts Bn Omtangement or Colteeter of Tres Connected er related im Gudea manne a5. Jo form “an_eatire unt: coda 1 a fonirel Sgstem Is on qiapgement. Of physical Components Connected of Telorted in Sesh a Manner gs fo command .dittck or teyvlate itsele on anctteer— System. Tejacdless op which type Of System VRE Wosic. iygtedients of jhe system can be cleseeibed bgt i Opjerkives on. contre! ust tin Contre |_-gyotem components y his Results» [Link] SeientiMe terms, this baste ingredients. ear be identified ‘by inpet., System | Components 8. evtput as shawn, 4 ore] Se fing + Geet) Sete) eee) 3 These are thete beste types .¢ Ont! og Steins? ot ot Nodal tombe) System 2s “ tie Monty. complex. control. Systems. r€_ineledesl qmomy. feu conse. Hee. fopnae beg ar} rate. corral, ggottm Ceatrecl {nthe —loodgi=uii. Brains maintain bedy temp. at BC despite changes inoophysien! chayges external Lamps iS seb VR ohether contra} system, the tye, the diemerer of pupil ovtomanealley adjusts 40 —tontta the amount of ght that teacher tlie: eyes ~ Ar elestrie. Switch is. Seth ort gxomple 2 Controls the plow op vectricl ti Guitching ON or OFF may sbeastnsishererd os the Inputs... Ape output “> tht FLOW, en NON FLOW eh Sectricity , ght sacammple. isthe” ution of dri @ «Oo he. eyes cote the sencsors. thaw detect: the Centre: of the lost. The brain > detePaines: which. cans. most: be perparmed to-ascomplisl o-oo destred resets the, tbody. then Implementse she toéirela avtion by turnireg the 2 ‘preer ing wheels Arecopm ep -ayottm isione. [Link] centrel. action j8 inwepenskert ope thie. extpue or thes tlesited reae te «f. basio block -dlegram. ia. Shews below’ Repetemee. Fuse Comtretled) Anges (vf) oe Natiable (¢) fn example Gf. on Spon cep. Sustem is the acon ¢) firing aque: the fegerttte is te direct te dullet 10.6 tenger tid Khe tornolted scialbie” le Se odlcectben, oy the bullet Diphee Hae gun bas beer “Piveds I dere 1s a disturbonce 25 Wit, the Dulles Shrectton._ uli shonge no. collective action ispessibies — © Reletivele Siemple fuctloos de bol eo Wt od ie 2. L au\to cheap dois st eit LL peabe A oe |e a | cal BMS _teliadit to maintain Ar Inhetently hall ot at Loti be patos tase. att tek aH + bog, f f 1 Relatively, slow. in eelpesel fod it be aCan be tnaccurete due to lack ef Lebtbosathenlacl 42: Monta loop Sastem L- vaif = aan Conmparats’)- th this system. the centro aattoh depen net ohly en Phe_eutpet tot ded or tel in demtane: Tht eviprt sighal ty aes # compared with the Lostyerence fo inp 8 ~ orrediive Osten _jsi taken ks i ee +4 L Thattsieola | pet at tb Stefigst | eegpone af Laie _ 2 fheeloces eppeer og Pe rea 8! Reerene (when se at “ror Is Aas) ba j Wich peepee ae } asl Fagen ines le Ricorapt tontrol systems = This Js the lust: of benbers to Thine the oiccrapts #6 peas Joke Pd dated a Aotomatic: landing of lait erayt ~ The calsited! attitude: F uclocitg | epithe gic tcapt gre compe wm the gieund, and tansmitted to the airern pt 99 coniral Signals Siti us %- Missile somirel ~ This..cwmbj oes the bore two: cma alse improves. complex teeconan ink. Ai Radar Gun control ~ Position contr systems aah poiticalae probes oy pity ms 8 good regulaten against wintl disturbances | 5: Machine tentrel - This tnclodé— numerioal_ contol os. ti positioner Nelocity @) p cuttess G Remote pesitiemesntral = Its pooad in’ radar: Sete nurtear fenctors ete _ushere. — e¢mott [Link] axtensively topes Ron _pofembiometers | ,metery. thos! ot frocess tomirel = Its applied In processing industries Uke chemical jndustries wh ain by, peers asl a ol Seis pore irc Hicae| fecha 3 H§_~h sctfgo AEE wep poche fy { ‘The pelletwing. desinitier ctlaje tothe bleck. diagram abeve fer 8 tA speedo contre! System! is one apbich... tends to maintains @preseribed ‘relationship . op ong System variable te “onctier by Com pati tg the porckons of these variables. osing the} diggerence as a Monts op ntrol Prt Feperence inpot CR) i This iso se eStoblished av a Stniidard ey compariser por a, feedback tenwel System: \p the Valve of fis constant, JETE Kiicten as 0 Sot peint | iether desired: salve jis regperedt as 8.2071 4g 4. motor may be desired to ron at 1500 rev/min ‘but Ht may for at. 1400 seu l/min Hs or 16 00. 180 /enin o therepore. His is. Contrelted! fe give theadéslred value : / fale 3+ Frimary feedback Singa( G) i-Yhis is a function op the combolled variable (¢) which 14s, Sept oy aes INpUr Signal R to vebfain ther digerence Caror &. thence. Be ie bo Fa_Notunting Signal Bs This is the -repence impos: Ry miovs the primary: rfeedback:.Signal.B Getter Tt PienaySy or Sefomtrel clement Gi it This comprise: the porticn op postback of “contre! sastem hich & swpuied Yo prodice a mnigolated savieble From the actoating: Sigel 6. Manipolsted Variable A= This is te goantrty or conten whieh the cenirelling, elemen applics to. the Controlled System tt Cenieed. “Bysiem Aise called the plants This b jhe body, process er plant ,@ particular: quantity ef condition. hick i tosbe tontrelied # 48° Disturbance Wir FHS to a Signal other Gham RK veltich tends to opgeet the [Link] Qoudition. of the Controlled. Naviable Ce. ft Contrelied variable Civ This is thet quantity [Link] opti controlled géysem which 15 dlirectly meguerd and comrolled Reso) i t fron tte © Feedback element. Hi- This Comprise the potion ¢; the feedback, Gnirol system which Gtablishs the telaHenship bhoo she prinory featback & and controlled variable © te forward gotte (- This Is fransmission path grom the reference inpot R to the Contd Natfable 2 iH: 5 Reetback. Path ;~ This. is the jraramisyton [Link] shown The order op summing pest dees not qyest the results 5. lvstvated. bylow: | La Kit Xan ha, ol : aaa as he SHeming point ON toe. shipted beyond 4 Saindan shewe vrlow ot ta | 1 Hr rR 2 Kyo Cx =k) G Gla SA pick opp Choke cpg) Con De _shnipted ae & —P Bix, Xe < & & > Biminate a porword path in) ‘porate! path with snpther ‘olecK,, the $90. parallel paths ‘replated by a oypqit block whose. _gain’ isi eqan Yo. the -sopt oj the gain. in the pathe os shew doove spat = te A take opp. point is. plmicnt which the ovtpst is tapped fer usc. else usher» | ifwo take off -[Link] the Saine uniadch Con be inierthaggtd withers: opecttiy the te. & i | e Pollewsieg precestoree:[Link]: pollewed wile Simpligying wn biok Hane ie Combine —olldlocks which pre —in_geries $ vie Romnbige all iloxks—In_=pava let SB LisElgninater all -mminot peediauk loops ve Dhigt Suenaing -polmt te wre lest 8 toKe oy points to [Link]. op. the. ng eee \eop x) Repeat Yre_clvove Steps atl the canodeal. form is btaliaed ; - Simplify the lock diagram Sheurn belesa ana’ get the dese bop dnonsger _purction n ® Gia # Beare tn prellel > Gat Gs Heise boll | hop @ d 14 | Gy Sa ort i Series > “fehal_gola. = Gib | fe 8 eH) Se Bil is) - Ry hel | pe aay = | Reduced te td fit ee (GoGo Cd ed i 4 pal | ZI = A ® and “JO are in Series hence muttiglicd Ga: Sub t i ee a 2 - es} (s a e — t es G= & RK T+6n Bis Sutky (Gat Bo) = R 1+ Guy bea, £ + + Gu tig (Oaths) 6 Hy BuGak Big Ke CO.a Bo By using, bleak aiagearn. alge, fedwoe Iss Block a clove tebe cancel _Birm Gnd hence “Teter mine L Forward tronager punetion 4. ne ftedbinck Wansfer _ponctien cL Open loop [Link] function it di Qlesec leep Honsper ees & Etter. fatto. poh eat oho DB Primarg. peedibark feito. _ § afocsh Se Exoeaple 5 i Derive He overall truetager! eatic forthe System _ Show Joop D Gig # Gs in series <= Bina & 3.6. RK ve Get t GeFies Gain = Guibas = \4 [Link] th t..3, ¢ = Cy Gy R Vase 1 Gabe Hy by Bela BS Hi} o> Te Gslets Ter = Bu Gy Oy 44 Ga ibis + OGG) Hy 1 | — Using - block chagram. fedocHon teohnique derive the closed loop trans fer ful dhe Sern [Link] » lop Dy ard Gq crea seties s+ ea Gy doe Loe R as Ht 2 Gy bs. 1+ Ga bis Ha In loop @ = _ Ga bn fe Gotoh + Ga GG ote GaSe GK art. in_sertes it I leop 8. Gy ont Gey Eden, Qatn = Su Be G; Hy Galig lt, #Gat, t Pe Abs Gu, By Sy, R Ty ba Fe Wa 4Gan = Gy, Gig, Os, Gud, He V+GigGy He Feigith FES A, (FR GHar Gate SS in \cop B The gales. ace. tre pura sa ch & s Gh te Ge 4 V4 GaGa ta t Oaks ~ Gta Hal The Poute. shows a block diagram a a control {) Reasce It to its canonical form li) Determine the error! rahte as pees | guste: For the System 5 Ws cry Ave vatgue jentets g epen leop & 1 if 8 C5ei7 Tei Vp 0p = U | Pedah, Ha IH + K(s+e-9) Sees guia = _K€sieos) g° (se) +H, = iran = _KCst0-5) _siCse) tty qe Keto) 6 He (stp = __ K (oro:s) Flos) erty + KCB%0°5) Ha ie ® 4+ gitecs +H fk el ae : 1 vt _Kts40-9)_ FCs) He For the, System qu the glqure. Helou 4) Redore $0 tanenlea! form A) Determine the claret teop troasper paetion = SF Coen) thle a he Plsw)ttiy Koto!) Hy — pao 9 loop © Ggoed Gy are In Series > series gain = “Sasa bot ae By Ga Vt GaGa Sues gators Sy ond Gy Gy = R&ei BeBe as Sia fs eg Ga by Ga Gy ta Ye Get 14 8 Guy Ha = Sia Gig Mee, VAG lia a Se Gra He & t Sig Gig Gra ert Gaba H+ Ga Gait a4 lop @ Series gain = Gu Ga i Go 14 Gg Grate t Oia gts L2G = GO. Gobr, - ee Ro ot tit vt Gata Gag My Gy Pasig beg oe Be ti H ble ligt. UE Se tates ally Hy = Gils Bry Gy 2 Ls Gag Guta t Gealg Hg + Gy Gaky + Gy Ga Hy Gotig Hy MUYTL_ INPUT SYSTEMS. ,. Sakon ts necessary, to pee. Simulteneasy, Hie others to xem + raners. ey Determine the gutpet ctor the System shown below! ca \. for H, sh Seoroe = 0 Sis wo oe fo Gey Considering Uf. Source Re OL A) : Ge Cpt U+Ca =. GR + Gaur Guta Cu be = Sy GaR + Gay Guba ce Systerttn which mere than ene ope aa i “ewpplied ct disgtre nt 2 ey She Systeme che sopet posite tHicatem. will be uacsl_by considefing tac. oper chm Hime while 3 The final seletton is then ebtaiacd by odelfng Individes! sdltichs. together rity feedback cox free & me He Here i Cs Gide K 14 Oy ba, ‘|For the rwviti sg stem Shown below determine the closed loop Iransper fonction. + Ceusider Re te Ra 2 Ry 0 Gs 8 Gila Gg 4 hi Rieke 1 FG Gee bee It { Ronsiger Ra KBR =O. Ga = as Ra. Ra 3) ba Gx, 4 A I= Gabe ~ Gut 7 US vet a ba feasider Roy hs ha 2.0 & = & jt iF i= an - spe ; ae Gs P i> By CGbaw = Ga 4s V+ Glas H al = 101 #1 Ca 4 Og 4 Ri Pa Bs = Gy Ga Gig tea lg og ak pt Big gp Wu GeGsH I GaGa Goh Ht bu binds H 34 Determine the. output C Por the rule inpet..Siounoelow : iJ 1 Xonsider Ri, wy su.s0 Lf fe | & f= GG HA GG Hi Has ¢ se Guy Gala + Bayt is Mt G, Ga Got R 17 GH. Lise qedt Serle gain = Gy Ge Hs Hy Ha = Seica pecdbnax pole daha tos loge | [Ted Jebidel aldol 13 | Gas es — Sf Rens idee ty dua : Le Gen Dai ty Pty saga, 1% Gab Ril a Te el gt ia \ + fod a fo a 2G oo M000 Ge Mtg Hiei + L a L9H Got ty errsre a oa TEU Gotiys ter ® Latta ides pt 4 aL — 2 Gu ba R + bet * Ua } 1 Ga Oa hata 1 Gaba Mile tGuba Hite = GebaR + Goth + Ue = Ca Ba Hote pe fA [Determine the cotper oper. the “blogs atlag ram. (Shown. elegy weit. hes Be ot, y eq + cds Series. gain btn Gu fGen GaGa, Gat, Tea, Te Gy Oily ep Galle Guteaty — R. V+ fuGa. Hy Bb Qltag | al, Lt alte # Gy Chatty pe pee ofa = Gy + Ga tly ty & aki # M4 GH + Gy Gea Hy bits | pit Ga tt. Seas Ed Me HB tt Bak, e Lf = f+ -4nBiors 4 Foca de Gated Catia Cmiag The Rant LtGotia+ Gus Hy = GeBia Hy VGattat Gy Gey i Ga Ky WGatia t Gabeart Gaket lt Galt Gat f- + GiGahy 1 HBafla ee z wu obsitl 4 ainott + tty Hyatt Bafta, PQ snyt sopeadeig | a RET Mee SP ES SRT uel ef amin CORT TH Jame wayy to” awog Seo ues SPAS) Sf FPA” 20 sHeIYSla /angy . i = TRETEPAT a ceourrpHeg!) EIS HpmyS sepia s|_wayshs Bt eal rs cfgurtuy ssyppoiddo~ aug 80 2Ax saysoeudd> opr ay OENIOG Al|SHOG, aT cM Hose sen vow sunpche pmrichyd=ysW? tors Fo orayjoiog ay Ii * w sth, Be yeyorselys 9 p> seacye BP ayn speaqah> uo st aL pe of voxoundy®: to. sanyoiiap”/ seNewW at 5 a ‘ oe adn ae so dup matches ay ung sd pysuosyojat Sp -SmayS IY rood; af aa Uw Deal pawustguoy IY aq HEY sy eft eet tele pty — ¥ + soyoibs euasettip fo yas 2 surep™ Bijeasn aaishg-n co paper “oefourasfou Tay, “Wajes anny 1h aT ~cguashs jpop aot —aouepeg yom xf Seoul g Canes po Lars ema) cHonpuyy “suspsbe gp to aeay ay ere syomau tyddo ojos sy 9 Cy “\gloyponaeqe 98x{ im fPvo sed -aigoyD ra spoyjou jrayhyou Huot ago» asayy + : Cpe ste oak peth cee Tig sb saawend ap ably so agoys sp wih oor asab of posN 9g VED +o spunea Frog sewing payddo amop pI y > teyesnmpg ap sAAdWcy wo GQ -aqaidoon: ofp Mat —ay bleh soerrARa fo Apap vem, yon ‘bHISn hy anypacta 6} 0b ania fo-eeme—soy RE oy sede pM HSU pEYMayeW aq Kou 9 it } todd Jaywawuadva, sof aca 0} ud UAV woe epee epee aH MEHy aibealS ysou ef-s hypanbad si papow ayy 5 paws laulaq oayshs ah of hom ses © UP so wdg ayy ul SMA, (ape pega} —usdiodwi stow st 3} wayshs wy PUBLMPYS af 4BPIO VY - —guRtaiow wWiTece- = i mictien. oi ; | This ts the fatto of Laplace Hransporm oy fhe ostpst fo the Laplace frans poo. 6,-Hhe ‘npot assuming. Hot He syptem was initially relaxed Cinltial conditions. are ero le the cotpet Siqnal is ~ Cee) ome the Inpet Is CO, the tromper:ponctoa., Gey = deo ce r= EOD Ve has deen observed thet a control system Is an arraggemem o¢ phypleal components Connected of related im_gech a manneras to Commanc, director eypelete Hiselp: or one Hier System’ yee df For the matiremadical analysis of any xSupiem, tthe -girst Step Is to derive tts mothemattes! Model under Scitable astupticrs: sy Hell These assopptions depend on the mature oy fhe components, pajure of tncitation Sources. 6, Environmental Conditions, the assumpiten which, 1s, cemmenigoumade is-that theSesttm jp -linear.. This assumption b rermally rue Under restricted fogge of Instructions Facing Detive a trans per function whch. cam besclepined,.aurby He pollwieg, Dees 9% —- a0 + dew 4 5 twW= TdeW+ pd i ae at oll ino pale angi bovhios_c | Taking, the logins trumprn 2d, time domain changes te sepveney olsenaianst | a at byte ee + Ot 4 Woeted Sens ti |F ws +8] = Rea [jes ] S kts Res) oo? ee degli La Ee | | | CS = tse ] ? x e RID _/s*410545, 4 Tronsper _portctions of tlectri cl_nctwork To determine the ranger -ponction of Such petworks Celectricat)uctihe »)baste laws 0g - alecrrtcal epgincering are vate 4 { ‘This inclosies. Chin's. low, Kirciopes lows ete +The procedures are as gollews +34 UMete the Intgstel=Aipgerential eguaiiers og the prkwetts niskirer use vp Ki Yeh se | YD b tquabtons cpr aiey 2 pn =| it, Taxe the Laplace tansporm of al these eqontens and elimlnafe...the. owes! red =. ‘orbalo ca ~ li Bg franspesiter < Re-atrangement obtain the tronsper puntton: Ser hop. wehani, The eguattens gathering the -totonslep préshoniaal. Sqsiems, ore..apen. directly or inetl rect formulated form newlons lew e} meHon» = te z = ? One lao states thet , the wlgebrale Sum of the forces Claryve) nekiNg ona. bed in a net Drestion is. equal bo, Hoe pote resisting mation -" 23 { Lines. | The various gabe Veet in raed pts Oreos pollews De Maas op the: element hl Ko Sprlng constant: ts tbs bait 2 + BE ame constant Ge es cg Laid ate | at Fr Force applied = Dispenet —— XeNeleatty ae ' Mass. (But nots placed) 0) bea 4: dis. 9 Ww he A A ESM dete Mid Pas dbauah teed Fa) he Bk | fun ses of pref ralh, 2 “Gh peal Moss fb. egulvatent teow! resistor: Ine Rectal »peptiome : wont. x & —- ts Aaah se ole 1 Fimsangioe a) 10 a vt dherdd Le dosk 1 le ip equivalent: fee Capacitor inom secistenHegptem “el Tg at 4 Mess i Domper tai} af ab shai actual po) kta fat Re Ls Fie Raye = AYP jie ite | Fe) bes alder Cian) The [dct 4 ‘his, Is .& Sopaciter x. Ireduci atema 2 i The getlowing. Ymmbols are sed _—_ : {= Trolweckta sep an. clearness eh) So Skye ness ReFriction Gomtant. ioc) F Torque: applied Force: — H Angle moved dot s- Mgolac. rwelparty Loe oy pbs ‘e tepresented! dy t= rete Srder of ' Systems| bolae Wher elements or components. ate Urked to: Dehawtoce e the system ie Geveenlilese by the interaction t Mécheinical, Electiss| or pluid gystems Gar be reprodued by Untiing the fespechve elements: Mare Compticats! oystema. tan be prodvect by, lotecaetten 6p clements_from more Hien one type of system: Fg! An eleoinic meter ao FiRST__ ORDER SYSTEMS i Me chantoud System a Consider a simple Parsilel _mreshonical system whic dosh pet whisk | eombinatien 0} cylincter and” dash bear | Wee t () tater Te sgotem Gonsist cg a bear) 2} negligible mass = at The “Site ert op She Getiag © damper “are attoched to \nttially unectended » A force F tp sodetent “the bar with yore towords Hie Fight bot not jnmedlatel » tttoiehee fo fits & rhgtd wet’ the sprine egether:, they orm, system_ane th ie a driving ke Lip rey be. Aegamled as _electre mechanical System: t 1 Links Aggether Pprlag # a a damper. Speedos stew nthe cltagram ye Assuming the mass | rergtabelipd_—slecdtodl Leuped adie | uehout pie othe danger intel may ve megested & the bar nas moved a distance Por eriginal postions te ime CE seconds), the festtolning perees. op the ‘Spring: ar dash pot te fs Fa oppae F + +4 ptt ote EB pa a Re 9 , fe Bdg | | ote Fe R ge Kyo { Mists & pret ender digeredtel equation ard its a mathemadtenL, sttdel op the SYsten-To Get the Arorager panction, fitst fake fhe. Laplace. fromaporm q the DB Faxing ts Fes) = Reyen+ KY es) 2 “To get Araniger function, clude output with Inpota fs Fea Yo) Ro + x] Yea ois Fs) 8S +K sa} | Be Elect: I, heer ar by bi ert potting) pani Sobstitete gor coment In the egn ep i Ha Cis Rodw + be de 1 “Joking hts Lote tt 1 ELC) = RES beg Eo ts) Eilat tee [kes ac] t bof ditto be | ibe 4 pifeaq bp dol b 4s tahoe gor Making 1 ts Euat, Bild = 19 Bets) + Bots) : R 2s r Eits = gots ( Eo 41) - R ; “ab. nl WotR ors } Bs Yhermel “System mixer A Socktted Container ts Qed fo eect a Liguidl | The mitver maintains ©. uniform temperature “Threoghset. the. Ligul ct 2 The input. ls the Sockets bey (©3) od the “eotpt the “wld temp (x) | “The ameont of heat change: (4g) cheamperes Jo the ligated depencls on the resistence (RD, ofthe wall between the Steam and the liquid. bi ws | The enp_icljeciesl Ole ey ae 9) at Faking laplace transporm 2 RCS Orca rey = Od Jef Perea Resi] = e5eo Trans fer gpunctien @1¢s) = Fach et L. SECOND ORDER S¥sTEma, Exomple 4. Celecirteal) * Show that R-)-C netwerk shewon belew the Hanger pyton [ Meding Misheped Las 0p. vo teers LS Roanoled ~ Nt? NA+Na 4 Vo 05 ede dk Subsite | por lc ee ode | “hs be place. rans porn i NE@ + ft LeF Noes) tVoer Nits) =Moco J Rost Les*+i] NICs Vow) L pest4 Resta] Trans per punction 4 “se fae ae NOP Re: td 4 10 ND ee e Is a second order eysiem ond | T trompe 2 Cmechanical Systems For the mas q Spriag damper System Shewn below Show thad: the Sgpitm 1s 9 Scwnd ener type ond derive the fremper poncion Fa)-xey Bom ae . + F dived eet Te] et yet é dpe - | Damper Pe el < The mass MIs tonsidereel A. ded BD forces. act on the mes M S the force xeerted on the dptfag FCS) UThe force exerted by damper piston Fr fie The eaiesnally applied force F “The spring pore Fs.2 Kee 3 4 The dariplag pore Fr = - Raz dt Tre main fone i Hote + since all porees ore aching on the mast { ‘Spc F +Fs+Ee i 4 4 1 s ‘ Mahe = FSR de! Kar ei de de | Mtoe + dat Ka oF ook Taking aplace transporm E Lye Mokxca)e Rox ts) + Kxta £ Fes xe | neeRs+k le Fes 1 Fits) t Ms aRs 4 FRASE EAD NETWoRKY Show thet the transper function’ por the cirwit shown belew fs Now = a (+s) Ni 14457 whee d= Ry go TRO 2 RitRe 1 et | Nés Cap + thy Nei oe = Ayywe-t | Moe (gel | | 4d Faking the laplace. Aeenaponey Vita + Twp \t + Ra} Rides, Mo = Trey Ra Avonspee ponetion ” Now) <_ig fa 4 Nits) Tors hy Re de Rigg a = 1Gl+t —— Rit (hikase +h) a + 4c pt “folasew] Ky +Raf Risers] Divide fhmagh v8 = fa fnscns Rit Ret TR ve4} eS? Marat gt felleainy netoorls tie. Derive. Xo. Sec Taking the - laplace_fratsparre Nits). Apap R 1 Rect J Vots)= Tah R Roew Ae Transger -ponction f R _ Nets). = Eta. ma a ea Ws) Tee) [9 f j nlemidee Heed. + a Rk + 4 ire Gase +) =| TrEqdivolent raoment op tnertic og the meter load to. the. moter: shop ~ t a ~~ os Ru TRANSEOR FUNCTION oeemmea ee, A de meter is cetea wmpleysel ait a genteel System. where_an. Uobtceeabse amavat, df Shope power TS feguinea There Citheramurture contrelled with pled Plelkl coment or Pit control with pixed nasa poste Amotore ted dC moter : 2 j where i | dosti 4 Ram Apmature winding. tesistance ig ohm C0) j hort 4 ireletance in Henry iD | : po bas Me bo insetump 2! : ye Upc —pielel orsent) pol atushmte Me amsad doic aoe 4 | Car applied oitage tn sets | eb- back ems 43 Weds { & > Angular displacement of meter thopt { Te Terque delivered the mater F~ Equivalent viscous friction coegpicient of the moter s reperecl te 7 motor. Shag: Cxq~m (rat see op pod teeth fi dn $e tpp—is PA t= Koo kecd Lt | Sine ip e constant T= Kika tq — * Kia t+ ‘he ferque T Asatepst delivered bythe meter (5 pre porter! fo ithe product og atmertire [Link] and the att gap Plox $ which i> iotuen proportfonal.. te. the .pleld current Therefore aftgap. pox. 4 = Kp ig 1 : L 4 where Kp 1 @ constant sh Tergue a T= Ky ia Ks ig where Ki # Kp are censtanis donk Ie armature CEnirolled de mototy fhe piskd oocrent is. held fn -tonstant. thessthe luc ts ee ond the torgue Dee mes pt pipegeipee Xo the: armatuie currtot® = Kig Z reg Kis a moforforyue cengtane .»! tivo Nihen armature is sefating 0 9 ee pioportional te the ees og the plue ant urgulac elecity. 1 ia the — armoctupe a re 5 Sai. 1 i eee Pea fetstant plory-the indosed —\eoltyge — Crg nib. fireclay poperttanat fo. the selec ty fotos : speak Jet bath, CT ies hd dP fal ai y hd db thos. @p-2 Kydd | ie tb 4 [ Taking - fistise # assuring ak {nitiel conetiNed vate Yepe Znoaa ke SOep 1) 4 ppd | The speed op the armature canirelled be yatem ishesntralted 26 Phe ormadtd re 8 Ca sh the Atgperenttal [Link] forms jhe atmature et will: bees! bavitaletailsled [ol Te | T ie L Fabry ft ‘ { £2.C8)=. Le S30 + Lats fa + Eyes) dota 4 ta babe E fag = Tats (ia54Rol+fec9 | i Igtn Salsa euba) foB+Ra | Sete a ——— patio fact ob ft about THeloarmatore! citént: prectuoes ifotgue. wshtoh 5 dpptlest” athe. inertia? —$. prPoffon =nent ree a A i A Th J Methanien| Td" + FAC 2 gechite Rig torque et he bergae E TS eg Fs Gg7 Teo Ka) : te 65° 6s)Le0)7 Ktoe Joa. 4 ft hs ah Prony the three. vlock whl agreams. - 1 Sen ie Sa*t Eaca) Since 0. fy feds i 1 witr id | Eats) oasotsada. atte lesqecchest # i | debe oS He 4 | Lott Gasdud tates 4 i = Kuc 3 2 1 i . a Qos + RaLSst +Fe) +k Kes pscebinntat di { Ye Indottmace! Le iq the ormature is caval Small one sma, be rgglected in which Gase the above equation becomes: sida | es) = _ Km. where Kn = __K & moter gain Constant | Loo) so \TmS 1 Rap t\K Kb : A eam LAS ree Hine eorent | Ratt KkKp. j 1 3 | 4 | | des 2 mae | Tlenlenlpeleel ele ieelelelbelbeine lerdal a A ll _ Vek Rp Fete vied resistance ta 2 bge Fit + _teuetanse in — Lp Fist __bwirrenit te Ra Sum oy armature resistances the inserted cesi | f= Argolarslis place mentop. fhe moter in. radians | T= Equivalent moment ep Inertia of the moter & lead repered ‘to the motor: =m Melani Niscovs _prtulfen. cent, the. _pictor_ a “loa rr to | ae ‘kagt Ky =m [rales a4 pedal i Tasha eK, Dye e [ 1 Ow ig 2 fan = Katp 1 i Kikailp ia — Fe Ki kei T= Kif. a ke thus ageten the pled oocrent Lp ig the comtrel Lepde ¥ ‘The ormalore —axrent “Lyi muletaiced—constuarychich may be -oscoynplished. by tip Q Ceastant vo tinge Seurce fo the ormature # fuserting, a Ne age ‘Pesistarire th Seches. Avie the onmoderes att. ot 3 |p He. sa drops to the. ‘resiviaece, Boe iS large dane with fhe emg. indvera_| Wy tte retetien ey the armatwee, the cpa op the back ag te ThadeSepiaft_ thos Keeping the ormatere torrent cons tent! the forqueT deesloped by the motor is prrportansl to the poe ize “oingep $ andthe aryeture current | Te. K Gla where & ‘ 8. gontunt bs TX gia Sire the airgap ple ¢ ord pied woirent Cp 3 ptnpatienal por fhe sua operetta. Tt op tie meier—onl_ta is assumed 4 be constant ids Torque T= Ky id. where Ke 9 Constant ptt Pe i “he fea ee Ais. ate are! 1. 2 eps Me dle ate ceernell ~~ Hsia let thas oe bee a dee Es 4 ee = r | Toki dts 2) laasiiral patsas 4 Epos by SExcy + pon Ry aif ott Le = Tp pest ited al Ept0) op cle Lael 1 i 1 Egtd LES 4Re i E fe tJ Ea fli tite ded ode i |g pts] MEP ERE cog oe tl deeded fs pastes pe J So on 4 Foe to + Ka Tp } Gon Listas) = Kathe) 4 ib aad ee | Fu) 2 Ke Tpt) ss Rembiniey the wo blow diagram we get i ff} fe} —0 dela get htt tl ebuild OF = Note: There is no peedimek beeaose pack emp is cance led: by external. resistance Lets. Ke bi dive l iT I, 4 Ep) —_(ypse Ry) s?s85) GH Se)(mSty 5 Ry 8 whee Km = > Motor gain cenetant pa. Tre pg Hime. constant por the picld Tone J = time constant op inertia prtetien: clement . = re ‘ Since the pleld Indoctance hp ts not saps he trorayersponerton. op thes pleld Gonicoiied de motor iS og fhe. thid _ onter 7 ~ = de DT oa oes LI WSFER PUNCHOM OFA GES “4 ie ae Fie diy lic Li Reel Ole Fepistance Kg generator cons hank. ania aide et er: fo th petting ett Hed Suche thee | genetarer ped wwrrent Het puted [ Taking tol eer et aa rare i 14 42 L haba ott. ‘al +4 Yq mn yk Oe a oe a | Appiying Kivehorgs Bie the pled oa li I Nis! Ly dip fee isle Typos kp wo (dps +R, ‘a eae ‘ ab of Nie) sei) nef oh _ diving Hitoggh bg Rpg achat am poh : 0 sop A ted fe Eg t= Ko) oe | | tf 4 pobncd ate Nica ae ee where, Ws é e me voegten of a sila [tf and. te “TRAN CIENT RESPONSE. by Teodoe td wit ft Inpet__stgutAn asi sist. 44 - os fa \npt.to_control sustem may, toe Slmple., me Narying quantity, or complicated, % fandom: Tn the esting, of Sistine fallowing, —inguts. ae vs ie Input displacement ‘Ws the Suddere change jp the Nalve op @ phystcal quantity, dent in zero Hiner dve to Practloal limitation — its passible te ochtee on Weal —shpe Input Sus prided the tise Yime_is Ney fast fempaced With yesponse Hme oj. the System she. tise time Gan bbe ignored ee Shaded ~ fiye toler 40 change grom one: level for anette oc bd tine A step input is often. used to ebteln transient tesponse. a a System De Unit = Impulse fipyt 4 4 4 Ari impulse Inpot isc Speiteltype..opi_pube voien, starts oth £=0 phos: att. inpintie.h 4 9 dovatten. oy. zero «bt practice. a. perfect, impulse cannot be cshiered2...por_testing cormally. osed Jor hing Aeady state Coaditfonse roe iN Arceieration Inpot_/ Porabelic. Ms one tne whic She Thput Aenivel is fehefed at a constant | ameledation Vs. used. either par troclent ep _steaely state condi Hots - apt pal Odie Sh abit ohh dank N__Sinssoidal Ingo 4 ft . The ingot sorte Ts. auhieereal_|to. shyuoidalyy NoKying Sigtals “scittatior® hg gh Tiss Garstont preqoeray one mogottodefepresert a slowreldatTnpop v input poe i O° cio wt imi et - Hime. Sekine tn digital sation act ia] Consider 0. Simple Servo. mechanism Coystem whistt|4s error detuoed ). Shevin eto i + qutpot hyp ay i: 4 Feosoeet Parentiometers bugs ath , ebay fot lull S37 | ctoniee ae E oe tare AL, de. sepply : bly 7 Sep waited I es Ss ea | Question (ons) mo i Determine: /the...response 9} the veltgge: Wt®) ajter the Swtich Si is. closed:.in Network of. Figute below when of excitiHen Ved = 1Osinzt 1s applied - Hote thet Hiefe ts ne charge on the capuctter begore: closing tye aswhteh:! ~~ THE SE avo mecuanisn + ~ bin ‘Ovtpet shaft. i. Tequired 40 fellow the fetation % ¢ Qn inpot. Shapt: 4 The ‘papers position. op the two. Shapts ae’ measured, by Spopling. obit. a torcida! —-patcobtometer each Shapt ond). Sapir con beth the potentemeter aross a+ Commer tabhixed —Sepy at 4 spalyiayp boc. _ Frevided the jue. hapts Yoel sere ate positions jhlere| sudtlauhe tas: Bed erste tu Sliders lp }owtver there is mmisaljgrment of de wtil exist. btwn the two_sliden + sts mas fie —anid Stgodopencling 9m the magnitede ard sien of the deviation ( clipgerence btwn The cumplipier eoill.. then, eh urrent-uthweogh the..cirmature of Seexe mator; the. ee 35 .which careles a.) tonstant. Tabata a the resotting torque developed by the Motor fetches the shape Tag. Such dlingctten| ag 4o_redute the coviation ard! elthr bring ovtpot Shap in She. Same. position. ts the impor shagt or tase the gutpot! stag fe lew ne inpot ae ip-the later is in Doak nvous meen 4 $ “The block diagram ef the agstem..1s. as shown oeleto! fe TRE mee Tee pt ke é Ke Xt Ps 4 = Ke By i e = - be & 13 Deets etal | inketin_agelthe- ste pid: load i cepenftel Jette land aide Caen") Nscous _prictien _donstant isang Isec.) ~ Motor torque Crem) X= Ampligiee “Tram oondvetante L KG= Motor Torque Constant Kr* [Link]. Sonstamt sins 1 othe Wtbin forte | ppdi@thnel jo the lent bol “thes Te KARE eer = fa Hee

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