Time-Domain Analysis of a Position-Control System

The maximum overshoot of the prototype second-order system depends only on .

1. The purpose of the control system considered is to control the positions of the control fins of a modern airship. Due to the requirements of
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improved response and reliability, the control surfaces of modern aircraft are controlled by electric actuators with electronics controls. 2. Gone are the days when the ailerons, rudder, and elevators of the aircraft are all linked to the cockpit control through mechanical linkages. 3. The so-called "fly-by-wire" control system used in modern aircraft control implies that the attitude control of aircraft is no longer controlled entirely by mechanical linkages. Figure 7-23 illustrates the controlled surfaces and the block diagram of one axis of such a position-control system. 4. Figure 7-24 shows the analytical block diagram of the system using the amplifier/dc-motor model. The system is simplified to the extent that saturation of the amplifier gain and motor torque, gear backlash, and shaft compliances has all been neglected. The objective of the system is to have the output of the system, y(t) follow the input r(t). The following system parameters are given initially: Gain or encoder Gain or preamplifier Gain of power .amplifier Gain of current feedback Ks = 1 V/rad K = variable K1 = 10 K2 = 0.5 V/A

Gain of tachometer feedback Kt = 0 V/rad/sec Armature resistance of motor Ra = 5.0 ohm Armature inductance of motor La = 0.003 H

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Effects of Adding Poles and Zeros to Transfer Functions:1. In practice, successful design of a control system cannot depend only on choosing values of the system parameters so that the characteristic equation roots are properly placed. 2. Although the roots of the characteristic equation, which are the poles of the closed-loop transfer function, affect the transient response of linear timeinvariant control systems, particularly the stability, the zeros of the transfer function, if there are any, are also important. 3. Thus the addition of poles and zeros and/or cancellation of undesirable poles and zeros of the transfer function often are necessary in achieving satisfactory time-domain performance of control systems. 4. Addition of poles and zeros to loop and closed-loop transfer functions has varying effects on the transient response of the closed-loop system.

Addition of a Pole to the Forward-Path Transfer Function: UnityFeedback Systems

For the position-control system described when the motor inductance is neglected, the system is of second order, and the forward-path transfer function is of the prototype given in Eq. (7-116). When the motor inductance is restored, the system is of third order, and the forward-path transfer function is given in Eq.(7-137). Comparing the two transfer functions of Eqs. (7-116) and (7-137), we see that the effect of the motor inductance is equivalent to adding a pole at s = -3008 to the forward-path transfer function of Eq. (7116), while shifting the pole at - 361.2 to - 400.26, and the proportional constant is also increased. The apparent effect of adding a pole to the forwardpath transfer function is that the third-order system can now become unstable

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if the value of the amplifier gain K exceeds 273.57. As shown by the rootlocus diagrams of Figs.7-26 & 7-28, the new pole of G(s) at s = - 3008 essentially "pushes" and "bends" the complex-conjugate portion of the root loci of the second-order system toward the right-half s-plane. Actually, owing to the specific value of the inductance chosen, the additional pole of the thirdorder system is far to the left of the pole at - 400.26, so that its effect is small except when the value of K is relatively large. To study the general effect of the addition of a pole, and its relative location, to a forward-path transfer function of a unity-feedback system, consider the transfer function

the addition of a pole to the forward-path transfer function generally has the effect of increasing the maximum overshoot of the closed-loop system.

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As the value of Tp increases, the pole at -1/ Tp moves closer to the origin in the s Plane and the maximum overshoot increases. These responses also show that the added pole increases the rise time of the step response. This is not surprising , since the additional pole has the effect of reducing the bandwidth of the system, thus cutting out the high-frequency components of the signal transmitted through the system. The same conclusion can be drawn from the unit-step responses of Fig. 7-31, which are obtained with n = 1, f = 0.25, and Tp = 0, 0.2, 0.667, and 1.0. In this case, when Tp is greater than 0.667, the amplitude of the unit-step response increases with time, and the system is unstable.

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Addition of a Pole to the Closed-Loop Transfer Function:

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