FLA SH BAC K: Antenna Azimuth Position Control System

S FLA
K AC HB
a. system concept; Figure 1.9 b. detailed layout; Antenna azimuth c. schematic; position control Fourth Edition by Norman S. Nise d. functional block Control Systems Engineering, system: 2004 by John Wileydiagram rights reserved. Copyright & Sons. All
POLES, ZEROS & SYSTEM RESPONSE
Vibration System and Laplace Transform
Control Systems Engineering, Fourth Edition by Norman S. Nise Copyright 2004 by John Wiley & Sons. All rights reserved.
SINGLE DEGREE OF FREEDOM
X X
X X
stable unstable unstable
stable
f(s)
G (s)
x(s)
Transfer Function
2 G ( s) = Ms 2+ f v s + K
Table 2.1 Laplace transform table
X X
stable unstable unstable
stable
Table 2.1 Laplace transform table
Figure 4.2 Effect of a real-axis pole upon transient response
K G ( s) = (s + )
Figure 4.1 a. System showing input and output; b. pole-zero plot of the system; c. evolution of a system response. Follow blue arrows to see the evolution of the response component generated by the pole or zero.
C ( s) = R( s) G ( s) 1 ( s + 2) A B C ( s) = = + s ( s + 5) s ( s + 5) where A = where B = ( s + 2) ( s + 5) ( s + 2) s
s 0
2 5 3 5
s 5
s 0
2 5 3 5
s 5
Output C(s)
s 0
2 5 3 5
s 5
Output C(s)
s 0
2 5 3 5
s 5
Output C(s)
s 0
2 5 3 5
s 5
Output C(s)
s 0
2 5 3 5
s 5
Output C(s)
s 0
2 5 3 5
s 5
Output C(s)
s 0
2 5 3 5
s 5
Output C(s)
s 0
2 5 3 5
s 5
For free vibration system m x + c x + kx = 2

Not applicable Solution x(t ) - Vibration Trace Case#2 x = ACos (nt ) : whe n not damped =2
Case#2 x = Xe nt Cos (d t ) when lightly damped : Case#2 x = ( C2+ C2 ) e : t
n t
<2 >2
w hen critically damped = 2 when heavily damped
Case#2 x = C2 s2 + C2 s2t : e t e
Effect of System at TRANSIENT (before xh (t) goes to zero in Case #1, #2 and #3)
F(t)
ER MB D ME CE N RE OR IO F AT IBR V
Output C(s)
s 0
2 5 3 5 c(t ) = c p (t ) + ch (t )
s 5
1.0
0.4 t
c(t ) = c p (t ) + ch (t )
Figure 4.4 a. First-order system; b. pole plot
1st. ORDER SYSTEM
Figure 4.5 First-order system response to a unit step
C ( s) = G ( s) R( s) a 1 C (s) = ( s + a) s 1 1 C (s) = s ( s + a) c(t ) = 1 e at
2st. ORDER SYSTEM
Figure 4.7 Second-order systems, pole plots, and step responses

2st. ORDER SYSTEM

2st. ORDER SYSTEM

Figure 4.14 Second-order underdamped response specifications
Figure 4.8 Second-order step response components generated by complex poles
at
c(t ) =1 e nt Cosd t
Cosd t
Figure 4.10 Step responses for second-order system damping cases
Figure 4.13 Second-order underdamped responses for damping ratio values
c(t ) (1) 1 Cos (n t ) (2) 1 e nt Cos (d t ) (3) 1 e nt te nt (4) 1 e ( n +n 1 ) t e ( n n 1 ) t Assume constants equal or near unity.
2 2
Figure 4.11 Second-order response as a function of damping ratio
(1)
C ( s) G (s) =
n 2 s + 2 n s + n ( s + n ) + n 1 2 2 1 = 2 ( s + n ) 2 + n (1 2 )
2
(2)
For R ( s ) = 1 / s (1) When = 0 1 C ( s) = ( s + jn )( s jn ) (2) When 0 < < 1 C ( s) = K1 s + K 2 ( s + n + jn 1 2 )( s + n jn 1 2 ) s + 2n ( s + n ) 2 K1s + K 2 ( s + n + n 1)( s + n n 2 1)

2
(3)
(3) When = 1 C ( s) =
(4) When > 1 C ( s) =
(4)
Figure 4.17 Pole plot for an underdamped second-order system
G( s) = =
n
( s + n + j 1 2 n )( s + n j 1 2 n )
n ( s + d + jd )( s + d jd ) For step input 1 c (t ) = 1 e nt Cos (d t ) 1 2
G( s) = =
n
( s + n + j 1 2 n )( s + n j 1 2 n )
n ( s + d + jd )( s + d jd ) For step input 1 c (t ) = 1 e nt Cos (d t ) 1 2
1 2 Tan =
1 2 Tan =
e nt
Figure 4.19 Step responses of second-order underdamped systems as poles move: a. with constant real part; b. with constant imaginary part; c. with constant damping ratio
c(t ) = 1
1 1
2
n t
Cos (d t )
%OS = e
/ 1 2
100
1 2 Tan =
Figure 4.23 Component responses of a three-pole system: a. pole plot; b. component responses: nondominant pole is near dominant second-order pair (Case I), far from the pair (Case II), and at infinity (Case III)
EFFECT OF 3rd.POLE
bc s( s 2 + as + b)( s + c ) A Bs + C D C (s) = + 2 + s s + as + b ( s + c) C (s) = where A = 1 ca 2 c 2 a bc C= 2 c + b ca when c A =1 B = 1 C = a D=0 ca c 2 B= 2 c + b ca D= b c 2 + b ca
Figure 4.24 Step responses of system T1(s), system T2(s), and system T3(s)
24.542 s + 4 s + 24.542 24.542 T2 ( s ) = ( s + 10)( s 2 + 4 s + 24.542) 24.542 T3 ( s) = 2 ( s + 3)( s + 4 s + 24.542) T1 ( s) =

2
T ( s) =
Figure 4.25 Effect of adding a zero to a two-pole system
( s + a) A B = + ( s + b)( s + c) s + b s + c (b + a ) /( b + c) (c + a ) /(c + b) = + s+b s+c
when a >> b & c a becomes a simple gain a 1 /( b + c ) 1 /( c + b) T ( s) = a + = ( s + a )( s + b) s+b s+a
Let C(s) has no zero. Adding zero at -a: (s+a)C(s) = sC(s) + aC(s) If a is large aC(s) will dominate. If a is small derivative sC(s) will contribute to bigger overshoot.
Figure 4.26 Step response of a non minimum-phase system
(s-a)C(s) = sC(s) - aC(s)
When a is negative and small. The derivative effect sC(s) will dominate in the opposite direction. Aircraft is a non-inimumphase system because it initially veer left when commanded to steer right.
Figure 4.27 Nonminimum-phase electrical circuit
Figure 4.28 Step response of the nonminimum-phase network of Figure 4.27 (c(t)) and normalized step response of an equivalent network without the zero (-10co(t))
(s-a)C(s) = sC(s) - aC(s)
#2 #3
#1
C (s) =
( s 10) 1 1 = + 10 = sC0 ( s ) 10C0 ( s) s( s + 10) s + 10 s ( s + 10) 1 1 1 where C0 ( s ) = c0 (t ) = + e 10t s( s + 10) 10 10

#1 #2 #3
dc (t ) Therefore c(t ) = 0 10c0 (t ) = e 10 t + 1 e 10 t = 1 2e 10t dt
POLE ZERO CANCELLATION

T (s) = K (s + z) ( s + p3 )( s 2 + as + b)
Example : C1 ( s) = 26.25( s + 4) s ( s + 3.5)( s + 5)( s + 6) 1 3.5 3.5 1 = + + s s + 5 s + 6 s + 3.5
C2 ( s ) =
26.25( s + 4) s ( s + 4.01)( s + 5)( s + 6) 0.87 5.3 4.4 0.033 = + + + s s + 5 s + 6 s + 4.01 0.87 5.3 4.4 = + + s s+5 s+6

FLA SH BAC K: Antenna Azimuth Position Control System

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FLA SH BAC K: Antenna Azimuth Position Control System

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S FLA

POLES, ZEROS & SYSTEM RESPONSE

Vibration System and Laplace Transform

SINGLE DEGREE OF FREEDOM

stable unstable unstable

Table 2.1 Laplace transform table

stable unstable unstable

Table 2.1 Laplace transform table

Figure 4.2 Effect of a real-axis pole upon transient response

For free vibration system m x + c x + kx = 2

w hen critically damped = 2 when heavily damped

Figure 4.4 a. First-order system; b. pole plot

1st. ORDER SYSTEM

Figure 4.5 First-order system response to a unit step

C ( s) = G ( s) R( s) a 1 C (s) = ( s + a) s 1 1 C (s) = s ( s + a) c(t ) = 1 e at

2st. ORDER SYSTEM

Figure 4.7 Second-order systems, pole plots, and step responses

2st. ORDER SYSTEM

Figure 4.7 Second-order systems, pole plots, and step responses

2st. ORDER SYSTEM

Figure 4.7 Second-order systems, pole plots, and step responses

Figure 4.14 Second-order underdamped response specifications

Figure 4.8 Second-order step response components generated by complex poles

Figure 4.10 Step responses for second-order system damping cases

Figure 4.13 Second-order underdamped responses for damping ratio values

Figure 4.11 Second-order response as a function of damping ratio

For R ( s ) = 1 / s (1) When = 0 1 C ( s) = ( s + jn )( s jn ) (2) When 0 < < 1 C ( s) = K1 s + K 2 ( s + n + jn 1 2 )( s + n jn 1 2 ) s + 2n ( s + n ) 2 K1s + K 2 ( s + n + n 1)( s + n n 2 1)

(4) When > 1 C ( s) =

Figure 4.17 Pole plot for an underdamped second-order system

Figure 4.17 Pole plot for an underdamped second-order system

n ( s + d + jd )( s + d jd ) For step input 1 c (t ) = 1 e nt Cos (d t ) 1 2

Figure 4.17 Pole plot for an underdamped second-order system

n ( s + d + jd )( s + d jd ) For step input 1 c (t ) = 1 e nt Cos (d t ) 1 2

Figure 4.17 Pole plot for an underdamped second-order system

24.542 s + 4 s + 24.542 24.542 T2 ( s ) = ( s + 10)( s 2 + 4 s + 24.542) 24.542 T3 ( s) = 2 ( s + 3)( s + 4 s + 24.542) T1 ( s) =

( s + a) A B = + ( s + b)( s + c) s + b s + c (b + a ) /( b + c) (c + a ) /(c + b) = + s+b s+c

when a >> b & c a becomes a simple gain a 1 /( b + c ) 1 /( c + b) T ( s) = a + = ( s + a )( s + b) s+b s+a

Figure 4.26 Step response of a non minimum-phase system

(s-a)C(s) = sC(s) - aC(s)

Figure 4.27 Nonminimum-phase electrical circuit

(s-a)C(s) = sC(s) - aC(s)

( s 10) 1 1 = + 10 = sC0 ( s ) 10C0 ( s) s( s + 10) s + 10 s ( s + 10) 1 1 1 where C0 ( s ) = c0 (t ) = + e 10t s( s + 10) 10 10

dc (t ) Therefore c(t ) = 0 10c0 (t ) = e 10 t + 1 e 10 t = 1 2e 10t dt

POLE ZERO CANCELLATION

Example : C1 ( s) = 26.25( s + 4) s ( s + 3.5)( s + 5)( s + 6) 1 3.5 3.5 1 = + + s s + 5 s + 6 s + 3.5

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