PROBLEM STATEMENT

A magnetic tape-drive speed-control system is shown in Fig. The speed sensor is slow enough

that its dynamics must be included. The speed measurement time constant is rm = 0.5 sec; the

reel time constant Tr= J/b = 4 sec. where b = the output shaft damping constant = 1 N m- sec;

and the motor time constant is r1 = 1 sec.

(a) Determine the gain K required to keep the steady-state speed error to less than 7% of the

reference-speed setting.

(b) Determine the gain and phase margins of the system. Is this a good system design?

Figure (1) Magnetic tape-drive speed control

Step 1
It is clear that the value of speed measurement time constant is 0.5 seconds, the value of reel time
constant Tr is 4 seconds, the value of output shaft damping constants b is 1 N.m.sec the value of motor
time constant T1is 1 second.

Obtain the transfer function of the system.

Thus, the transfer function of the system for the Figure is as follows.

T(s)= K(STm +1)/ (STm +1) (ST1 +1) (JS +b) + K Eq (1)
Step 2
(a)

It is clear from equation (1) that the system is of Type 1.

It is clear that for Type 1 system, there exists positional error constant KP

The steady state error of the system is.

ess = 1/1+ KP
It is clear that KP in equation (2) represents a positional error constant.

Calculate the steady state error.

ess= Limn---0 sR{s)/ l + G(s)H(s)}

=Limn---0 S(1/S)/ 1+(1/STm +1) (K/ST1+1) (1/ JS + b)

ess = 1/ 1+ (K/b)

Step 3
It is clear that the value of b is 1 N.m.sec
The steady state error of the system is.

ess = 1/ 1+ (K/b)

Substitute 1 N.m.sec for b in steady state error.

ess = 1/ 1+ (K)

Equate this expression to equation (2).

1/ 1+ (K) = 1/ 1+ (Kp)

K= Kp

Thus, it is clear that the value of K is equal to kp .

Step 4

ess < 7%

1/ 1+ (K) < 0.07

13.28 < K

Thus, for the error less than 7% of the reference, the gain must be 13

Step 5

T(s)= K(STm +1)/ (STm +1) (ST1 +1) (JS +b) + K

Putting values

T(s)= 13(0.5S +1)/ (0.5S +1) (S+1) (4S +4) + 13

The transfer function of the forward loop is.

G(s)=1/(S+1) (4S +1)

G(s)=1/( 4s2 + s+ 4s + 1)

G(s)=1/( 4(Jw)2 + Jws + 1)

Step 6

G(s)=1/[( 1 + 4w2 )^2]^1/2

Step 7

I G(s) I = 0.79 at ∟G(s) = -180˚

The GM can be calculated as the inverse of the magnitude of G(s) at ∟G

(s ) = -180˚

GM = 1/ (G(s))

GM = 1/ (.79) = 1.27
Step 8

PM = ∟G(S) + 180

PM = -173 + 180

PM = 7˚

STEP 9
Since GM is low, the system is very close to instability and since PM is low, the damping ratio is
low and the overshoot is high.
For the system to be more stable, the gain should be low. If the gain is less, the steady state
error will be high. Thus, this is not a good design and needs a compensator.