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Control Systems Module 3 Notes

The document discusses the concepts of transient and steady-state responses in control systems, defining transient response as the output variation until a final value is achieved, while steady-state response indicates the system's accuracy after transient effects have dissipated. It also covers various input types such as step, ramp, and impulse inputs, along with their mathematical representations and implications for system behavior. Additionally, it addresses the analysis of second-order systems, including damping characteristics and response calculations in both time and frequency domains.

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dech261988
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19 views31 pages

Control Systems Module 3 Notes

The document discusses the concepts of transient and steady-state responses in control systems, defining transient response as the output variation until a final value is achieved, while steady-state response indicates the system's accuracy after transient effects have dissipated. It also covers various input types such as step, ramp, and impulse inputs, along with their mathematical representations and implications for system behavior. Additionally, it addresses the analysis of second-order systems, including damping characteristics and response calculations in both time and frequency domains.

Uploaded by

dech261988
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
“The RespenAe qiven by the System wobicl ain cduncton gq, athe Hme, ao the applied Excitaton uid Called Hme herpome gq, a Control sydrem. BW ie have two dyper gq Time Reaponne. a) Transient Response b> Steady State Response. Transient. Rerpomac.’- The output variation during athe ctime | ait taker to achieve Sta fival Value iy Catled a trantient response THe Hime mequived to achieve the ginal value dn Catled ctnanstent Petod. The Transient nerponse may toe erponerttal @ OScitlatery tq nature, Symbolicatly tk ts day denoted os cu) Steady State Rex ate Gh ot sport % Bee rHme rurponge Which, nemar ayer Complete aranmient erponse Vanishes yrom ~the Suyctons curpuk aA is aby Con Joo defined ob nerpense gy Mee System 2% Aime approaches Amginthy from athe time oot Whidh ctransient nesponne Completely dion out, “The Steady Stale Kerponne fudiicater dhe accewracy ¢ Hae System , The Sembol dev Steocdy Bheuke exact br Cys Resxpense Cit) We Cou Write or Gs 46,4) The Steady Stee Error. c pyjerenaa Belioeen tre ceatved cudbpat and actual culput ¢ the Siyttern in Called Steady Steche Greer. welch un densted By Ess. The Stgralrs cohtela ame moss Commonly ured ob ejerene inet > fa omoliytin ane dazed on Standard tert Siquads. The Evaluation gq. the Syste Com doe done on tre Basis G, tre Derponse given by tthe Syetem to Bae Stendond det tapate “rene. Standard ket Stgralr cme: Step Tuput (Rsitfon quockfon):- x ff Step qusck’on Tepnestnth an inttautancour Chomge ain dhe Tefewence Speck. Mathematically Jub Con toe Aenevibed af, ay - JA ter tz Ht) Oo ger tse ay As1 then “ein Cabted, unit Step fundten aud denoted by Utd). Laplaw. Aranayeren 4 Saudi Aupat in Als 5) Ramp dinpot [velodty function) x The Ramp Laput @ unckon dn a junction that Changer Constantty With Hme. ¥ The Mathematical desortpten % % ramp quniion as as flaw. aw) a YR) *4 5 prise (_- Slope «A ay Aad La in cotted Unit Lomp ae nctton Ak dumoded by HU): ° 2 2 : Save a dts Laploa. tromgerm dn V6 | ce) Rerabolic nekion [Acceleration gunctton] !- | ee es een Stgaak Haken : ene, evade jorter Ton the ramp chinckion , ¥ Mathematically dd Gn damibed ar gollownr. TG) = Rey, +70 cA maguitude ate ° tdo Parrabal re anckion. 2 Ke X Rerabelic function dn Gapreded gute Eun) an Art? Se dat io Japlow Aifqercent [Link] Ay et ig HU) = 47> Sub is, Cobled Unit porabolte cinput. Lan laplace deangyerme Js Ah, Impulae Input: x at is the unput applied din Stantan eourhy a vod liigh Jamplitute as Shown. ar is he pulse whose magnitude as doginite while as tid tends to gp 32 +7 Applied momentarily, a Area a the input ae impale is Nortaing Buk A. magnitude af dds aren, us unity du dn Cothedk unit jinn pul dopar dauroted os 5). x Medhematteally dia con be Gnpressed a5. yey ees att) So pe + #0. t a Wa. bee Tmpabe. Onder qo Syeter « - Depinition- he unput and ovipak relationship a Coutrol Syren Com Joe Gupresredt boy a. dsyferentil von. The order 9, the Syutem ah Hven by Hoe order a, the di{terential Equashton governing Hoe m Th, the System din governed. by ath order aijjerer val Equation, hen the Syttem to Called. nt” order Sytem] _ ae PCs) Frrangyn funcken at) = aay k= Constant Ris) > Avmersator Palyrromial G18) > Devrominabry Polynomial. Time Korpone analyels % diva orden Feb we Conatdey cloned loop Syrtem ae ay) CIP @ Rerponaa TE. 66) . Gt? 5AM tg WG) TH eo ven t_.4 then aaa Network, 43 Shown Below. | ee yi) 1 18) Apply Kv.b to the loop. Nits) = RIC) +L Te). Vets) = gets, Tey Te) me Mis), Ae = ees vies) S¢RIU)+ 1) “se 1 2a TTS whee “Time Stenpone analysing, ditsk order Sytem der unit eee baker TF. ce) __ 1 Res) 473 cesy= RCS) x_4 1+T-s -@ Now We ane faking unit Step guncion a» a foput {e BRM = L tro ae) The laplae trans jer makron + RU) an RUS) = Is Sub the Value 9, Ris) in ® SS. oe S(itTs) S" G4ts) 1 = Al4T3s) + BS “BOPET.8) —sters) 1s Ali+Ts)+ BS Put S=0. Purse -'t et I+TS ets) = Lot The Response in ee : 147s To Colulate the act), Take ‘The bep Thveme laplace tranngovn qc c(s) = ls cu) = CoH) = tear Ct) Cut) = Unit Step 1[P- Response a ditst order Srytem ao voit Step dapat nd) E s “Time Hesponse anotipin 4 Second orden Sytem i Te Cloned loop transger function q, Second ovelere Segcren os, ccs) . = Rus) S*4 IES + WF W,_— Undermped nakural frequenny nad (Acc. qo damping masto. Damping atte Be Damping nate Us defined an the nate 4 Bre actual camping to the Catkcal comping Foun Caren:- Cased i+ Undamped Sytem Eo. Cased i- underdamped Sytem O Y= ety Rarrtial gration Enupauston. B a Won? Soe aa cts) = ——— 2 (ere, 2 (St Wn) (8+'%p) out S(S4 Wa) $C Sten) > = [Link]) | = gi. Wn? | Fs10,)* lene. ie shiee = 1 TS B = (St) ets) ee = (StS _b9n* S(S¥*9n)* 2 SE. 4g) ~ hoa = = 4 [Gt.>* ces) cg ae De das | S2-W9y = J ereeay* x_WOnt =a 4 SCSrony | g2- Wy Reponge in +-demoin ott) =? “1 tect) ee [es 5 = hat cu = 1-[itmt]e The unit Step nesponse +? critically amaped Sytem wy as Shown, ue 4 Rerponne. q_Sesond orders Sytem Jor over damped. Core and When topu in unibStep. oe ccsy vO, gu REM E Hy hGH Res) SP AQEWSTN DY = ae cease 2s Ke teote coq Et 29.N 51 “8 = ~ Ek, + Oly | “Sie - [-& 19, - 19, TRE] Sse 82 Een WEE Ce goa EWA thnN Get Unit Step Tupub Stgrat no)= 41 R)= Vo, CCS) = RUS)x_1On® S242 EWS thy = Ye x boat Is (S83) (S484) cts) = Wnt ee ee & C8483) (S+Ey) S — G¥8s) (S84) A= [Link]) Le A ed, W9n" | ee A(st83) (Su) Se As Lon & vat So ee) (§ Wn -na Te) [agp wile] (a-b) (atb) = a= ar E19, b= Wal BL a gla ae ie oe - et nC) ba CECE) last] B= (stss) c( ( _ $2-53, ay tsrsi) S &¥Sz) (S+S4) : < : ee ©) * Tg (apd nt On SEF Ty (-satSu) “88 | a Eras 7 ~ Te yfeanenl) Sa . Wr» oe aie ©) B= =o __ Dealer! —_ = (8484) cee) } 82-84, c= (seed) 180 ! BC S48) (S385 g2-Sh -_ ren (ats) * vale cara) ce et sue WIFI) Rexponge 9, S-domain cs)=2 cj ce) s A 4 Boy . S483 StSy ee te een bn '_ 7 Ea) + Qype Si, (S58). ccs)» 1. bo fs i S ~ Qian Lestss) “Sul S+5) + (545,- Wn te a Tuvense Joaplau trangjerm on Both Side. = Wr ost c(t) = 1 weet Sy | Indtady State ouput == Nemoina withing 27. Enter Boud, ‘Delay Time Tai- Tt is the me Required Jor the nespome fo each Sot % the inal Value sin the dint attempt. at geen, By Ta = LHe On Rie Time Te i> Th sis Hee Hime mequived dertne meaponse to oune frm (01> fo 401+ q dhe dial Value dor overdaniged ogetem ancl oto 100 1 + Yhe foal vali for underdomped Sytem The Hise He dn neaprocal q te Slope ge Sponge at dtu Saataut, He nesporae uh Equal +o sol the feat volus, Ga as gren by ely = se fee When O wh sradhiin, AOL. — — Reak Time Tpi- I+ us the time nequived dor the nesponne yo reach Hn peak Value At ts alto Aatned ab re Hare cok Widh, Negponse Guder goer he ane overalrnot Which Jy allwvary’s Peak overstoos. Feat Oversioot Mp! It vis the lorgeet Error Between Tejerrente input and output during the transient Period. Mp = Jew | H1 tanger onit Step Mapa +2 Te —_ UMes er ME 00 “Tne Te te Trig ts detned an the Hme nequived with in H Settling feo the espense fo Aecreare aud Stay Speciped Porturtage % in {inal value. Time Conntant 4 & le Sem GW Te = 4X Te Constont Te = 4 for atolerana Band. g + 27: Ein ag Steady State Steady Stale Exrors. and Exrer Constants. — State Emror: Tt vis the difference Between the actual ootput and the desivecl output. Moathemattally ait ix dagined. in Vaplac dornain as. Leb] = Ets) = RCS)- CCS). HES). Jornon. unity feed Bate em A [ett] = Els) = RUS) - CS) dor unity feed Gade Sastem , Tenvation a Steady State Error'- Constder a Simple cloned. loop Sytem uring negative deed bau as Shown ain the +4 RE) + EO GU) BL) ECS) = Error Stgual B¢s) = Feedback Stquak. ECs) = R(S)—- Bis) But Bis) = CS) HG) ECs) = RS) — cts) HIS) cls) = E68)G0) Els)= RUS) — ECS Gls) HOS) Ris) = ECs) FEC) Ge) HOS) Ris) = E¢s) [1 +a c8)H¢S)] Ecs) = _ R(s) for noxmal feed Bau 1+G (3) HS) Ecs) = _ RS) for onity feed Back. 14 G08) This ECS) dy the frre tn laplaa domain and in Exprewion sin’S' We Wont to Calutoke Hu Grrey Valu Ta Hime domain Cormverponciing Exror Will be elt) Now Steady Stake a tae Siyctera as Stoke Whids Hemaing at +99 Steady State Env, Sos = (im ete) Now we can relate His «in laplate domain by using, gual value theovem tehich States tha Mina re FC pow FW = SFOS) There dere Egg = Mew) = Vim ¢ E¢s) + Sov Fox a we Jeedbouk oe une postive Sign Jo diem denominaler| while ure Negative Stiga Sigu dn danominotor Sy Sytem UsLr positive peek Bact, Feom the above Gupresston At Can be Concluded Hat bteady State foro depends on, ® RUS) ie Heporence input, HH type oud Mogritude. @ EUS HU) Le open loop ranger funcion. 2) Dominant nonlinearitien prenent AL an » Pr + f Error Constant + » Reference Input ds Sep qonagaitude AY A s Eq, = lim _ 8: RS) $30 14G Us) HIS) = lim ge Aly a 1+ Gu) His) RIS) = lin —@ Sao Vt GLH) A 14 Ur ees) Hes) So Css = For a Sytem Selected Ii Ecc) H¢S) te Conatont and s30 Cotled Positional mrov Co-epjicient Gp the Syutems denateal on Ep Kp = = Ges) HCs) = pasiton brrer Coeyficieat) Pind. Corcrerpondiing Err in oe ttKp 7 Ces = So Whenever Step duput Gn Selectecdh ot a nejerents Input Posiional rror Coeyficterk Kp Lill Control tu Grroy ulin the Syke, along woth tte Hagnitud % he Su puk applied. Rejerence Suput is Tromp a Magnitude fl :- = cu) a Ris) = Ase Coq = Vy —S RUS? $90 V4 GIS) HG) = Lim $x Ast S70 14405) H6s) = lim A SO sfitqusr Hes] S ih A SAO Sts qn) A a. -—t SSE Li Bets) HU) S20 Fov a Selectesl ystems Be Sete He5) 18 Constemt ond +0 Cotted Velocity Grer Coasticieuk os Ky. kv = WM secsonesy S30 Tuput, veloct [OS —— So Whenever amp fnpuk Gs Selected of a PEN, error Co. cient Ky will Control Hu Crrev th the System along With dla Maguituds. of. Saput copplicd Rejerence Snput is Parabolic 4, 4 ituds “A wed cu) oe ace S\r- Ru) = Ay, 4? a Ses Risd= As. cue lim _ SR) S30 14 Gis) AW) = lim 8x Als S30 1+q% (9) Hs) = lim A Sro sz Tignes] [lin oe S20 SFES*QUS HG) ™ Sse S7G (946s) Se gor a Setectend Syston VM S* EUs) HES) tr Content aud Caled Receleredion pl Corptetenk ox Eo Ka = Um sreqeo tits) Seo Css = Wea Co Tndnoducton +o P-1-D Conbollers -- A Controller us a device which when inbeduced. te feed back @ dor wsared, path % Bagster Contels the Bteadyy State curct aronatent nepome a Por the neguiverent. Such Device Cometh iaput to the Cowtholler to Some other form 4 Err fuan propor ttoval to Srrev duu ato Whtch Steady State and transiout nesponse ye mpoovedt Tn Hort q the pnacktial Seyshem, Coutellee olp i» Lange to orev Cyeueraced. Such Sepdems que Cable Propo Errare HLeclsoninens (Ptyp) EW) RO ea SCst2& Consider Sud Serond order Sytem Lohere Conbrolledr Input wis Ory Braet omc Joopertferal Constant oo K= 4 04 8600 tof. 19,7 QIHts) = a (S42 & Ud) Ont cs) 2 — Sor . 8) Sr a4sWot Ir : te tn E awl nabural For “Hels System damping maxte to Eo epg On Hud ger Steady Stecre Enver. lim = gy AHS) =O Ky lim [Link] tes) = bon, $0 2 be have dierent Hyper 4 Controtlews : PD > Thoportoral + Derivative Aictten. PI —> Proportional + Tutegral Achon. PID -» Proporhonal + Derivative + Integral Acton. PD Type 4 Conrolles)- A Contoller in +ee forward. Path, Which Chan Pou Con holley Output Cosrrerpon ding 4o proportional plus devivarhve 4, nov Steal us Coled PD Conboller. ol 4 Coutelley = K ett) + Ta dew) Taking Lapla = K EC) +3 Ta ECs) = ecs) [kK +8 Ta} Ris) cee) PI Type 4, Controller. A Coutoller in the jorwarrel path, Which Changer the Contoller outpuk Cowerporcling. to the prope ttfonal res Tit egral othe Emer Stgual ats Called PI Conde’ olp 4, Couboler = Kett) +k; [Link] Taking baplots = 1cECS) + KL £66) © ew [er] G) 36) Plawt PID Type 4, Combrelley- As PD Tuaproven cransiext and PI Smpaoves Steady State nesporae Combinochion q. awe Maw be used Jo

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