Scribd Logo
Upload

Welcome to Scribd!

  • 80 views

    System Design 10 - Time Domain Analysis

    Uploaded by

    Sanjay Raaj
    This document discusses time-domain analysis of control systems. It describes the transient and steady-state responses of systems and how to analyze them using concepts like the unit step response and time domain specifications. It also discusses steady-state error, system types based on the number of poles at s=0, and step error constants. As an example, it analyzes the time response of a second-order system and applies these concepts to a thermoelectric cooler control system using proportional-integral control.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    System Design 10 - Time Domain Analysis

    Uploaded by

    Sanjay Raaj
    80 views14 pages
    This document discusses time-domain analysis of control systems. It describes the transient and steady-state responses of systems and how to analyze them using concepts like the unit step response and time domain specifications. It also discusses steady-state error, system types based on the number of poles at s=0, and step error constants. As an example, it analyzes the time response of a second-order system and applies these concepts to a thermoelectric cooler control system using proportional-integral control.

    Original Title

    system design 10 - Time domain analysis

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    This document discusses time-domain analysis of control systems. It describes the transient and steady-state responses of systems and how to analyze them using concepts like the unit step response and time domain specifications. It also discusses steady-state error, system types based on the number of poles at s=0, and step error constants. As an example, it analyzes the time response of a second-order system and applies these concepts to a thermoelectric cooler control system using proportional-integral control.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    80 views14 pages

    System Design 10 - Time Domain Analysis

    Uploaded by

    Sanjay Raaj
    This document discusses time-domain analysis of control systems. It describes the transient and steady-state responses of systems and how to analyze them using concepts like the unit step response and time domain specifications. It also discusses steady-state error, system types based on the number of poles at s=0, and step error constants. As an example, it analyzes the time response of a second-order system and applies these concepts to a thermoelectric cooler control system using proportional-integral control.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    You are on page 1of 14

    Time-Domain Analysis

    of
    Control Systems

    Seong--Ho Song
    Seong 자동제어시스템
    자동제어 시스템
    Time Response
    qTransient response
    • Gradual change of the response from its initial state
    qSteady-state response
    • Approximation to the desired response
    • Steady-state error
    • ess = Desired response – Steady-state response

    Seong--Ho Song
    Seong Time Domain Analysis 2
    Unit Step Response & Time Domain Specs

    Seong--Ho Song
    Seong Time Domain Analysis 3
    Steady-State Error
    n Error : e (t ) = r (t ) - y (t )

    n Steady State Error : ess = t→∞


    lim e (t ) = limsE (s )
    s→0

    Seong--Ho Song
    Seong Time Domain Analysis 4
    Type of Control Systems
    n Steady State Error :
    sR (s)
    e (∞ ) = lim sE (s) = lim
    s→0 s→0 1 + G ( s ) H ( s )
    n System Type : The number of poles of G(s)H(s) at s=0

    (s + z1 )(s + z2 )
    G (s )H (s ) = n
    s (s + p1 )(s + p2 )

    Seong--Ho Song
    Seong Time Domain Analysis 5
    Step Error Constant
    n Steady State Error for Unit Step Function
    sR (s) R R
    e (∞ ) = lim = lim =
    s→0 1 + G ( s ) H ( s ) s→0 1 + G ( s ) H ( s ) 1 + limG (s)H (s)
    s→0

    n Step Error Constant : Kp


    K p = limG (s )H (s )
    s→0

    R
    n Type 0 : ess =
    1+ Kp
    n Type 1 : ess = 0 since Kp = ∞

    Seong--Ho Song
    Seong Time Domain Analysis 6
    7-6. Second-Order System
    n Second-Order System
    Y (s) wn2
    G (s) = = 2
    R ( s ) s + 2Vwn s + wn2
    n Example : RLC Circuit
    d 2 vc (t ) dvc (t )
    LC
    dt 2
    + RC
    dt
    + vc (t ) = vs (t ) (LCs 2
    )
    + RCs + 1 Vc (s ) = V (s )

    Seong--Ho Song
    Seong Time Domain Analysis 7
    Unit Step Response
    n Poles : s = -xwn ± jwn 1 - x 2
    = -s ± jw

    Seong--Ho Song
    Seong Time Domain Analysis 8
    Damping
    n Damping Factor : xwn

    n Damping : Damping ratio x


    l Overdamping : x > 1
    l Critical damping : x = 1
    l Underdamping : x < 1

    Seong--Ho Song
    Seong Time Domain Analysis 9
    Relation between System Poles & Response

    Seong--Ho Song
    Seong Time Domain Analysis10
    Control System Block Diagram

    q Control system block diagram

    Comparator Controller
    +
    Command K(s) Plant Output
    _ G(s)

    How to implement
    (1) Comparator ?
    (2) Controller ?

    Seong--Ho Song
    Seong Time Domain Analysis11
    Control System Example
    n TE cooler
    l It converts the electrical energy to thermal energy.
    l Model

    dT
    = - k (T (t ) - T i (t ) - T a (t ))
    dt
    l Laplace Trasform

    sT(s) – T(0) = -k T(s) + k Ti (s) + k Ta(s)

    l Transfer function of TE Cooler : Ta = 0

    G(s) = T(s)/Ti(s) = k/(s+k)

    Seong--Ho Song
    Seong Time Domain Analysis12
    TEC Control

    n Feedback Control : PI (Proportional & Integral)


    Control

    Z
    t
    T i (t ) = kp (T (t ) - T s ) + ki (T (t 0) - T s )dt 0
    0

    n Transfer Function of PI Control


    T i (s )
    K (s ) =
    E (s )
    ki
    = kp +
    s
    where E(s) is the Laplace transform of the error,
    e(t) = T(t) – Ts.

    Seong--Ho Song
    Seong Time Domain Analysis13
    Closed-Loop Transfer Function for TEC Control
    n Block Diagram
    +
    Ts PI Plant : T(t)
    _ Control TEC
    K(s) G(s)

    n Closed-Loop Transfer Function


    T (s )
    GCL (s ) =
    T s (s )
    G (s )K (s )
    =
    1 + G ( S) K ( s )
    k (kps + ki )
    = 2
    s + k (1 + kp )s + kki

    Seong--Ho Song
    Seong Time Domain Analysis14

    You might also like