0% found this document useful (0 votes)
27 views4 pagesDigital Control
Digital control notes
Uploaded by
Raiyan BasherCopyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF or read online on Scribd
0% found this document useful (0 votes)
27 views4 pagesDigital Control
Digital control notes
Uploaded by
Raiyan BasherCopyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF or read online on Scribd
/ 4
Digital Control (erste: 1s)
Tnour daily life, controllers one mostly digital compute
system. 50 ve need DIA (digital - to- analog converte}
and. AlD (analog to digital) conventens fon ¥ax purpoi]
e
ota “8 om Zswott
pee
$4) FS E(B) CK) palso knszn go
uw x a a(t)
y Te
% Be er kt .
at ak
sink = Bein sin kT
soe Pe cosw\
Sample_and held
Ste] le
ane
Bn)
9) -= al) -o-7)
ost ar
G@-= P- S = Ee
s
The_mapping things + 5
Be massing fing 4——>_aplane.
5
Tie oto ja line Bs plane ‘anf
The.
2 =a
2 Plane,
Some_theonem
fu) <> Fe)
AF) + batty <> OF) + A(R) Linearity
$Ub-nt) e+ 2" F() Time. shift
ee & pea)
#E(b) <> =Te oe diffuentiation in ime
409) = Kim F(@) initial value Hwonem
§e@r- Hin (-e) FG) Final value tRaontm
2
Example
F(y= O88
(e-05) (2-04)
6), 1 was,
2 @osyasy — t-or
=) Fee 252,
Os a
foct) =-25 68)" e5(0.7)"
$ n
Up.
{
ALD Coenpaterf Dia L[Garn bf Fro
ate
2} (8 ay
C2 Seah
acm
nib circle in 2 plane
=r) e fe - @+Bb
S42F Fe
oat
tea
st
= ke") {&- a
ak sampling freq, lose, T= /p =
Acous
@Aze*
or
T @Bse
Potting s=0 in Q(3)_is same_as putting zat im (2)
@©-S: 2
6@= eee Using te 3 formulae tot can éuilkde bebseans
= (eo
domain and demaiw.
oe T(z) = 4(2)_ . K(o.0esse+ 0.02483)
a) 24 (0.0655 k- L0GFZ)8 + . att) eo
i ceomioen| See eA
ifcoe gut K=20, Closed. op poles: 0.0.2 50.98 Aree
wee Ket, > dose, 4D se 8 Bee t=
ce
fon Keim, pole cuk Husk dedesonstatia | cle . ee = fe")
Systems ins plane which are stalsle can become.
unstable due 4s how hry am sampled.
then Tso, pele is_at 1.
when Te 20, pole is at -10-
Semapling Hew Should he beboaen
Time _tosponse.
Qe@= KG)
Sea,
Naloral_nespowse is G(s) Poles on left hand give a.
ying expat pond poles ard tenos boli set gain.
= KG) 1
Go= SEY. aya. 2G-9)
eplases
YGY= REIS)
ae
= 0/4203.
nici
© and “Ta fpr sicily
So fon Pole ob 0, we, apt a nesulk SS} fonm.
ex)
| Wansient_response_
- tines Fconshaent Tp
nts of constunl overshoot
lines "
constant
Ts
reat jo
ee" eT, jot
we know, 22 6"
Line § constant. TE have same S, $0 it will
become civele in 2 plane (different lines give diffe nk)
Line_of constant Tp have same co, but vanging ¢
Tt becomes radial line on? plane
Line of constant ovenshcol becomes some weird.
Polynomial. Spiral
shen designing ple aon ust be soFon fase Uns
on requivernen
cahen [Al <1, the response
dies Steady stale Error
Aahen. Finding, G(s) ,use hold block cascaded waite plant.
oe
Step inputs _e(oo)=
Tee
Ke = Bm G6)
Fy)
Ramps __e. a) = Vey
Kye Lim SQ in (a4)
Parabolies (8) =
Kas fin $66) => be TED
Example?
BO ste
Fo step. namp and parabolic find steady state errer:
Sq « BOE”)
oa)
soe tan
el
sto(i-e
fH
we el@)= 1 co
"eas
Fin ep Kp Lin GC) »
Fon amp, Kye Em Glatt) eo se e(ayege on
Fon panabolicy Ka = ate tin GFA (ao , 50 e@)et
Tnthis example ,T Sif not cause much Problems bu in
gietal, T plays a caitical tle insteady state as cohen T
is_vonied , stability can be al stake
Stobility via Rovtt.-Hurwite
Given TO) = sO ise can vse D(@) and Routt to de stability
2
considenction, (oe have to use bilinear havsfeam Se Et
Suppose DQ) = 2-2-0202 +041
Ful S21 in_ plac Of 2, and equate evenytiing. 4.0.
(SHH (By = =o
fe del USs-1F 0
We see total root count
Si wo is 3. As Mant is Asign
elas =o sere pe
ow right side of s plana,
st =tsa9 0 't *
thus otfar hoe Lie on
SF Weft Golf, Urstebte
Design ssguent
—4 Gn) Regret =
Ste A0R75) ‘rot
Fnom the combined (Ts, Tp.) plots .we con locate
fe E504 Aine,
le te can dnow root locos of closed loop system.
Rook locws drawing process is exacky same in Sand
> plane
Conditions oP. root Locus
Le KaG) HG)=0 <=> 4 kaa) HO)