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HW6 Control System
HW6 Control System
EEE 304
Answer 1
Given
BW =10 Hz
Task=¿ ¿ find samplingtime T s
=
1 1 1
= = s
{ 3∗2 π∗10 } {6∗π∗10 } {60 π }
¿ 5.3 ms
rad
Now according to phase margin rule the controller should have 6 ° ≡0.1 delay at
s
crossover frequency
Moreover
BW =1.5 ω c
BW { 2 π∗10 }
⇒ ωc= =
1.5 1.5
Now ZoH contribution to the system is 0.5 sample delay at crossover
T s∗ω c rad
=0.1
2 s
{0.1∗2 } { 0.1∗2 } { 0.1∗2∗1.5 }
⇒ T s= = = =0.00477 ≈ 4.8 ms
ωc
[{ 2 π∗10 }
1.5 ] {2 π∗10 }
Now since the sampling time from rise time is 5.3 ms and from phase margin rule is 4.8 ms.
Which is approximately equal and this difference will be due to approximation of phase lag
contribution at crossover. Hence, the sampling time is equal to 5.3 ms.
Answer 2
Given
segway control system
1
T F 1=
{s −49 }
2
Part 1
Given
f s {max }=100 Hz
According to condition, The ZOH causes the system's right-half-plane (RHP) zero to
experience a 1/2-sample delay. This is denoted by e−{ 2 }. Now again since it is strictly causal
sT
delay=e
− { s 32T }
Now transfer function is
T F 2= 1−e ( − { s32T })
Now using the Taylor series approximation
e
− { s 32T }=1− s 3 T
2
Hence
T F 2=1− 1− ( s3T
2
=
s3T
2 )
2
From the transfer function, we can see that it is has a zero at s= , hence frequency
3T
condition is given by
2 2 200 rad
s= = = =66.6666 ≈ 67
3T 3∗1
100{ } 3 s
1 rad
Now from the system T F 1= s=7
[ s −49 ] , we can see that it has a pole at
2
s
rad rad
¿ 4.7 <ω c < 44
s s
Part b
PM angle equation is given by
3 T s ωc
∗180
−1 −1 2
−180 ° + PM =∠ P−90 ° + N tan τ z ω c −tan τ p ωc −
π
Since the phase of the TF1= −180 ° , and N=2for PID
Ts
And τ p= (given)
2
−1 −1 ω c 3∗57.3∗ω c
−135 °=−180 °−90° +2 tan τ z ω c −tan −
200 100∗2
−1 −1 ω c 3∗57.3∗ω c
⇒ 135 °=2 tan τ z ω c −tan −
200 100∗2
−1 −1 ωc
⇒ 135 °=2 tan τ z ω c −tan −0.857 ωc
200
Next, we make the assumption that no PID zero should contribute more than 75 ° .
−1 ωc
15 ° ≥ tan +0.857 ω c
200
the angles are small, hence tan−1 θ=θ
180 ωc
15 ° ≥ ¿ + 0.86 ωc
π 200
⇒ 15 ° ≥1.146 ω c
rad
⇒ ω c ≤ 13.1
s
Though the essential ideas stay the same, we would normally anticipate plants to show
growing lag with frequency, which would make this problem excessively hard. In such a
circumstance, we would require a numerical solution.
Now for PID zeroes
−1 tan 75 ° tan 75°
tan τ z ω c =75 ° ⇒ τ z= = =0.285 s
ωc 13.1
Part 1
The PM equation is given by
−180 ° + PM =∠ P+ ∠ C+∠ ZOH + delay
Now phase for P(s) is given by
−1 ωc −1 10
∠ P=−tan =−tan =84 °
1 1
3 T s ωc
∗180
−1 2
⇒−180 ° +50 °=−84 °−90 °+ tan τ z ω c−
π
3
∗1
2
∗10∗180
50
⇒ 44 °=tan−1 10 τ z −
π
−1
⇒ 61 °=tan 10 τ z
⇒ τ z =0.18 s
|PC ( jω )|=¿
| |
1
∗K √ 0. 0 324 ω 2+ 1
√ω + 1
2
=1
ω
1
∗K √ 4.24
⇒
√ 101
=1
10
⇒ K =48.8 06 ≈ 49
Now C(s) is given by
49 ( 0.18 s +1 ) 8.8 s+ 49
C ( s )= =
s s
After discretising using Tustin, we get
9.27 z−8.30
C D ( z )=
z ( z−1 )
Part 2
P(s) in discretized form is given by
0.0198
PD (z )=
z−0.9802
For PI the PM equation is given by
−130 °=−tan
−1
( sin ω c T s
cos ωc T s −0.98 )
−tan
−1
(
sin ω c T s
cos ωc T s−1
+ tan
−1
) (
sin ω c T s
cos ω c T s−a )
Since ω c T s=0.2
Now solving for a
tan
−1
( sin ω c T s
cos ω c T s−a
=67 °
)
⇒ tan
−1
( cossin0.2−a
0.2
)=67 °
⇒ a=0.897
Now using MATLAB with the application of phase cross over equation we can find the K
|P D C D (e{
j ωc }
)|=1
⇒ K =9.30
The controller discretized TF is given by
9.30 z−8.35
C D ( z )=
z ( z−1 )