root locus method
DESCRIPTION
Root Locus Method. Root Locus Method. Root Locus Method. Root Locus Method. Roots of the characteristic equation Depends on K c (tuning) of the loop. 1- This control loop will never go unstable. 2- When Kc=0, the root loci originates from The OLTF poles:-1/3, and -1 - PowerPoint PPT PresentationTRANSCRIPT
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Root Locus Method
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Root Locus Method
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Root Locus Method
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Root Locus Method
,1::numerator of Roots:Zeros
,1: r,denominato theof Roots:Poles
i
j
Zeros
Poles
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Roots of the characteristic equationDepends on Kc (tuning) of the loop.
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1- This control loop will never go unstable.2- When Kc=0, the root loci originates from The OLTF poles:-1/3, and -13- The number of root loci/branches=number Of OLTF poles=24- As Kc increases, the root loci approaches infinity
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1- This control loop can go unstable.2- When Kc=0, the root loci originates from The OLTF poles:-1/3, -1, -23- The number of root loci/branches=number Of OLTF poles=34- As Kc increases, the root loci approaches infinity
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1- This control loop can never go unstable. As Kc increases the root loci move away from I-axis, and D- mode adds a lead to the loop makes it more stable. Addition of lag reduces stability2- When Kc=0, the root loci originates from the OLTF poles:-1, -1/33- The number of root loci/branches=number Of OLTF poles=24- As Kc increases, one rout locus approaches – infinity and the other -5, the zero of the OLTF
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The rout locus must satisfy the MAGNITUDE and the ANGLE conditions
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The rout locus must satisfy the MAGNITUDE and the ANGLE conditions
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)i(θeq'y
xand)i(θqexyier'ydic
iθrexbia
MAGNITUDE CONDITION
ANGLE CONDITION
)]2sin()2[cos(1)( kkeyx
yx i
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MAGNITUDE CONDITION
ANGLE CONDITION
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Example:
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Matlab comands:rlocus Evans root locus Syntax rlocus(sys)rlocus(sys,k)rlocus(sys1,sys2,...)
[r,k] = rlocus(sys)r = rlocus(sys,k)
)h(rlocus
;3])2[11],5tf([2h;32ss15s2sh(s)
;)s(d)s(n)s(h
2
2
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Matlab comands:Find and plot the root-locus of the following system. h = tf([2 5 1],[1 2 3]);Rlocus(h, k)
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Frequency Response Technique
Process Identification: A- Step Test Open-Loop Response B- Frequency Response.
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Frequency Response Technique
B- Frequency Response.
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Frequency Response Technique
Recording from sinusoidal testing
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Frequency Response Technique
Mathematical Interpretation:
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Frequency Response Technique
Mathematical Interpretation (Continued):
Amplitude of the response
radian degrees
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Frequency Response Technique
Mathematical Interpretation (Continued):
Amplitude of the response
Amplitude Ratio Magnitude Ratio
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Frequency Response Technique Mathematical Interpretation (Continued): All these terms (AR, MR, and Phase angle)
are functions of Frequency response is the study of how
AR(MR) and phase angle of different components change as frequency changes.
Methods of Generating Frequency Response: A- Experimental Method B- Transforming the OLTF after a sinusoidal
input
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Frequency Response Technique Methods of Generating Frequency
Response: B- Transforming the OLTF after a
sinusoidal input
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Frequency Response Technique Methods of Generating Frequency
Response: B- Transforming the OLTF after a
sinusoidal input
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Frequency Response Technique Methods of Generating Frequency
Response: B- Transforming the OLTF after a
sinusoidal input
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Frequency Response Technique Methods of Generating Frequency
Response: B- Transforming the OLTF after a
sinusoidal input
Long time
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Frequency Response Technique Methods of Generating Frequency
Response: B- Transforming the OLTF after a
sinusoidal input
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Frequency Response Technique Methods of Generating Frequency
Response: B- Transforming the OLTF after a
sinusoidal input
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Frequency Response Technique Example:
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Frequency Response Technique Example:
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Frequency Response Technique Example:
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Frequency Response Technique
Generalization
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Frequency Response Technique
Generalization
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Frequency Response Technique
1- Bode Plots, 2-Nyquist Plots, and 3- Nichols Plots
1- Bode Plots
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Frequency Response Technique
1- Bode Plots
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Frequency Response Technique
1- Bode Plots
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Frequency Response Technique
1- Bode Plots
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Frequency Response Technique
1- Bode Plots
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Frequency Response Technique
1- Bode Plots
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Bode Plots
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Bode Plots
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Frequency Response Technique
1- Bode Plots
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Frequency Response Technique
1- Bode Plots
EXAMPLE:
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Frequency Response Technique
1- Bode Plots
EXAMPLE:
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Frequency Response Technique
1- Bode Plots
EXAMPLE:
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Frequency Response Technique
1- Bode PlotsFrequency Response Stability Criterion
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Frequency Response Technique
1- Bode PlotsFrequency Response Stability Criterion
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Frequency Response Technique
1- Bode PlotsFrequency Response Stability Criterion
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Frequency Response Technique
1- Bode PlotsFrequency Response Stability Criterion
... ,(1.05) Time Third ,(1.05)A time Second1.05by increased is Amplitude means This
1.05)Kc0.0524(0.8AR25Kc If. sustainedis noscillatio and unchanged, is E(s)controller the to connected is C(t) and 0,Tset(t) 0,t at
-πθ 23.8,Kc 1,AR
equal are Amplitudes
)sin(0.219tπ)sin(0.219tC(t))sin(0.219t(t)T
32
set
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Frequency Response Technique
1- Bode PlotsFrequency Response Stability Criterion
unstable is system the,-180at 1AR if stable; is
system the,-180at 1AR If rads). (180- is
angle phase theunity when than less bemust ratio amplitude thestable, be tosystem control aFor
o
oo
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Frequency Response Technique
1- Bode PlotsFrequency Response Stability CriterionEXAMPLE:
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Frequency Response Technique
1- Bode PlotsFrequency Response Stability CriterionEXAMPLE:
Without dead time
With dead time
ωu=0.160 rad/s
It is easier for the process with dead time to go unstable
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Frequency Response Technique
1- Bode PlotsFrequency Response Stability CriterionEXAMPLE:
Without dead time
With dead time
ωu=0.160 rad/s
It is easier for the process with dead time to go unstable
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MATLAB CONTROL TOOL BOX
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MATLAB CONTROL TOOL BOX
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MATLAB CONTROL TOOL BOX
Bode(num, den)