1 / 14

Control Theory

Control Theory. Session 6 – Transfer Functions. Standard form of first order TF. We will consider changes w ith respect to a given initial equilibrium . Step response:. Step response of. Δ z (t). A. t. B.

waylon
Download Presentation

Control Theory

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. ControlTheory Session6 – Transfer Functions

  2. Standard form of first order TF We willconsider changes with respect to a giveninitial equilibrium Step response:

  3. Step response of Δz(t) A t B Definition of step response: Δz(t) ifΔu(t) is a step of size 1

  4. Second order processes Typicalexample: mass-spring-damper z(t) u(t) (set-up in a horizontal plane, spring in rest positionwhen x=0, initialvelocity v=0: equilibrium!)

  5. Standard form of second order TF

  6. Step respones of 2nd order processes >1: Overdamped =1: Critically damped = fastest without oscillations <1: Underdamped: Oscillations! +

  7. Overshoot in 2nd order systems

  8. Overshoot in 2nd order systems

  9. Group Task m=1 [kg] k=1 [N/m] Find the TF and plot the step response for c= 4 [Ns/m] c=2 [Ns/m] c=1 [Ns/m]

  10. Group Task 2 m=1 [kg] k=1 [N/m] Can we nowadd a P controller and calculate the transfer function of the closed loop? (by the way, what’s the transfer function of a P controller?)

More Related