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sensitivity of system # transient performance of feedback system disturbance rejection cost of feedback
* Comparison of open and closed loop system - open loop: generates output in response to input w/o feedback
R ( s)
- closed loop: measures output, compares it with desired output, and feed the difference to actuator
# .
E a ( s) = 1+ G (1s)H( s) R ( s)
1+ G ( s)H( s) 1
G ( s)
OL:
R ( s)
G ( s)+G ( s)
Y ( s)+Y ( s)
CL:
R ( s)
T:
system TF,
G:
* system sensitivity
OL: CL:
* sensitivity of CL system
G S T = T T = 1+1GH G G
) S T = T ( s) H = 1+GH((ss) H H( s) T GH S T = S T S G , = parameter G
* for accurate control
# H=feedback gain
of G
GH( s) GH( s)
# G
ig. 4.7
V a ( s)
K1 G ( s)= s+1
1
( s)
# K1 tau1
OL:
va ( t)= k2E
( t) =K 1k2E (1- e
- t / 1
CL:
r ( t)= k2E
( t)
k2E 1- exp ( -( K a K tK 1 )t ) Kt 1
]
100)
Ka KtK1 =
D) s
-1 Js+ b +( K m K b/Ra ) T d ( s)
(let d ( s) = 0 )
CL (feedback control)
Figure 4.9
Figure 4.10(b)
( E ( s) = - ( s)= 1+ G (G)2Gs)( s) H( s) T d ( s) 1 s 2
E ( s) G1 H T d ( s) 1
if
G 1G 2H( s) 1
lim E ( t) = lim sE ( s) = s K R a K D t s0 aK m t s
= K R aDK = - c () aKm t
comparison
R aD K a K mK t = R a b + K m K b c () = D K a K mK t o () b + K mK b/R a
Figure 4.11
e ss
in OL
R ( s)
if
G ( s)
changes,
e ss = 0 /
e ss
E c ( s)= R ( s)- Y ( s) = 1+ 1 ( s) R ( s) G
(with
H( s) = 1 )
Ex.
e ss e ss
is small when
G (0)
is large
G ( s)
changes
e ss
compare
e ss
when
G ( s)
changes from
K s+1
to
K + K s+1
K =-0.1 )
1/101
11
G ( s)
-> CL
G ( s)/(1+ G ( s))
introduction of possibility of instability Q: Why control? Let's just make A: Not realizable since
G ( s)
G ( s) = Y ( s)/ R ( s)
equal to 1.
G 1 ( s) G ( s) = 1 ?
A:
G ( s)
12