Beruflich Dokumente
Kultur Dokumente
Objectives
H( s ) 1
G( s )
Y( s ) R( s )
1 G( s )
1
E( s ) R( s ) Error Signal
1 G( s )
H( s ) 1
G( s )
Y( s ) R( s )
1 H( s ) G( s )
1
E( s ) R( s )
1 H[ ( s ) G( s ) ]
1
Y( s ) R( s ) Output affected only by H(s)
H( s )
G( s ) DG( s )
Closed Loop
(G( s ) DG( s ) )
Y( s ) DY( s ) R( s )
1 (G( s ) D )
G( s ) H( s )
DG( s )
DY( s ) R( s )
(1 GH( s ) DGH( s ) )( 1 GH( s ) )
d T d T
T d T
G d T
G 1
G
S G
d T d T
(1
2 G
G G GH )
d G d G ( 1 GH )
T 1
S G Sensitivity of the closed-loop to G variations reduced
(1 GH )
( s ) K1
G( s )
Va( s ) 1 s 1
where,
Km Ra J
K1 1
Ra b Kb Km Ra b Kb Km
K1
K a
( s ) K a G( s ) K a K 1 1
R( s ) 1 K a K t G( s ) 1 s 1 K a K t K 1 ( 1 K a K t K 1)
s
1
Illustrations AMIT BHATTACHARYYA
Control of the Transient Response of Control Systems
R(s)
Km 1 Kb
G1( s ) Ka G2( s ) H( s ) Kt
Ra ( J s b ) Ka
G( s )
E( s ) -( s ) Td( s )
1 G1( s ) G2( s ) H( s )
( )>1
G1G2Hs
1
E( s ) Td( s ) If G1(s)H(s) very large the effect of the disturbance
G1( s ) H( s ) can be minimized
Eo ( s ) R( s ) - Y( s ) ( 1 - G( s ) ) R( s )
1
Ec( s ) R( s ) H( s ) 1
1 G( s )
lim e( t ) lim s E( s )
t 0 s 0
1
eo ( infinite) lim s ( 1 - G( s ) ) lim ( 1 - G( 0) )
s 0 s s 0
s 1
1 1
ec( infinite) lim lim
s 0 1 G( s ) s s 0 1 G( 0)
Loss of Gain
Instability
Y( s ) T( s ) R( s ) Td( s ) D( s )
K 11 s 1
Y( s ) R( s ) D( s )
2 2
s 12 s K s 12 s K