Dorf/Bishop Modern Control Systems 9/E

Controller

Process

Output

Comparison

Measurement

FIGURE 4.1 A closed-loop system.

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

R (s)

E a(s)

G (s)

Y(s)

R (s)

E a(s)

G (s)

Y(s)

H (s)

H (s)

FIGURE 4.3 A closed-loop control system (a feedback system).

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

v in Gain K a

v0

v in Gain K a Rp

v0 R1 R2

(a)

(b)

FIGURE 4.4 (a) Open loop amplifier. (b) Amplifier with feedback.

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

v in

K a

v0

FIGURE 4.5 Block diagram model of feedback amplifier assuming Rp W R0 of the amplifier.

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

Ra i f constant field current Ia

k2 E

Va Speed v (t)

J, b Load

FIGURE 4.7 Open-loop speed control system (without feedback).

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

R(s)

k 2E s

Amplifier Ka

V a (s)

Motor G (s)

Speed v (s)

V t (s)

Tachometer Kt (a)

Tachometer

Motor

(b)

FIGURE 4.8 (a) Closed-loop speed control system. (b) Transistorized closed-loop speed control system.

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

1.0 0.9 Closed-loop 0.8 0.7 0.6 v (t) 0.5 K1k 2 E 0.4 0.3 0.2 0.1 0 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

Open-loop (without feedback)

Time (seconds)

FIGURE 4.9 The response of the open-loop and closed-loop speed control system whent 5 10 and K1 Ka Kt 100. The time to reach 98% of the final value for the open-loop and closedloop system is 40 seconds and 0.4 second, respectively.

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

Rolls

Steel bar

Conveyor

FIGURE 4.10 Steel rolling mill.

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

Disturbance Td (s) 1 Ra I a(s) Tm(s) TL(s) 1 Js b

Va (s)

Km

v (s) Speed

Motor back emf

Kb

FIGURE 4.11 Open-loop speed control system (without external feedback).

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

Td (s) Amplifier R (s) Ea(s) Ka Km Ra Tm(s) Kb Tachometer Vt (s) Kt TL(s) 1 Js b

v (s)

FIGURE 4.13 Closed-loop speed tachometer control system.

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

Td (s) G1(s) G2(s) v (s)

R(s)

Ea(s)

H(s) (a)

Td (s) 1 R(s) Ea(s) 1 G1(s) H(s) (b) G2(s) v(s)

FIGURE 4.14 Closed-loop system. (a) Block diagram model. (b) Signal-flow graph model.

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

1 R(s)

G1(s) H 2(s) 1

G2(s)

Y(s)

H 1(s) Sensor

N (s) Noise

FIGURE 4.16 Closed-loop control system with measurement noise.

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

D (s) G (s) Boring machine 1 s(s 1) Y(s) Angle

R (s) Desired angle

E (s)

K 11s

FIGURE 4.21 A block diagram model of a boring machine control system.

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

1.4 1.2 1 y(t) (deg) 0.8 0.6 0.4 0.2 0

0.5

1.5 Time (sec) (a)

2.5

0.012 0.01 0.008 y(t) (deg) 0.006 0.004 0.002 0

0.5

1.5

2.5

FIGURE 4.22 The response y(t) to (a) a unit input step r(t) and (b) a unit disturbance step input D(s) 5 1/s for K 100.

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

1.2 1 0.8 y(t) (deg) 0.6 0.4 0.2 0

0.5

1.5 Time (sec)

2.5

FIGURE 4.23 The response y(t) for a unit step input (solid line) and for a unit step disturbance (dashed line) for K 20.

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

FIGURE 4.24 The solar-powered Mars rover, named Sojourner, landed on Mars on July 4, 1997 and was deployed on its journey on July 5, 1997. The 23-pound rover is controlled by an operator on Earth using controls on the rover [21, 22]. (Photo courtesy of NASA.)

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

Controller R(s) K(s 1)(s 3) s2 4s 5

D (s) (a) D (s)

Rover 1 (s 1)(s 3) Y(s) Vehicle position

Rover 1 (s 1)(s 3) Y(s) Vehicle position

R(s) r (t) t, t0

(b)

FIGURE 4.25 Control system for rover; (a) open-loop (without feedback) and (b) closed-loop with feedback. The input is R(s) 1/s.

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

Magnitude of sensitivity vs. frequency 1.10 1.05 1.00 Magnitude of sensitivity 0.95 0.90 0.85 0.80 0.75 0.70 0.65 0.60 101 100 Frequency (rad/s) 101 10 2

FIGURE 4.26 The magnitude of the sensitivity of the closed-loop system for the Mars rover vehicle.

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

Disturbance D(s) Amplifier R (s) Desired head position Error V(s) Ka Coil Km R+Ls Load 1 s(Js + b)

Y (s) Actual position

Sensor H(s) = 1

FIGURE 4.32 Control system for disk drive head reader.

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

Disturbance D(s) Coil R (s) E(s) Ka G1(s) = 5000 (s + 1000) Load G2(s) = 1 s(s + 20) Y (s)

FIGURE 4.33 Disk drive head control system with the typical parameters of Table 2.11.

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

Ka=10; nf=[5000]; df=[1 1000]; sysf=tf(nf,df); ng=[1]; dg=[1 20 0]; sysg=tf(ng,dg); sysa=series(Ka*sysf,sysg); sys=feedback(sysa,[1]); t=[0:0.01:2]; step(sys,t); ylabel('y(t)'), xlabel('Time (sec)'), grid Select Ka.

(a)

1.0 0.9 0.8 0.7 0.6 y(t) 0.5 0.4 0.3 0.2 0.1 0 0 0.2 0.4 0.6 0.8 1.0 1.2 Time (sec) 1.4 1.6 1.8 2.0 Ka = 10.

(b) 1.2 1.0 0.8 y(t) 0.6 0.4 Ka = 80. 0.2 0 0 0.2 0.4 0.6 0.8 1.0 1.2 Time (sec) 1.4 1.6 1.8 2.0

FIGURE 4.34 Closed-loop response. (a) MATLAB script. (b) Step response for Ka 10 and Ka 80.

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

(a)

Ka=80; nf=[5000]; df=[1 1000]; sysf=tf(nf,df); ng=[1]; dg=[1 20 0]; sysg=tf(ng,dg); sys=feedback(sysg,Ka*sysf); sys=sys; t=[0:0.01:2]; step(sys,t); plot(t,y), grid ylabel('y(t)'), xlabel('Time (sec)'), grid

Select Ka.

Disturbance enters summer with a negative sign.

x 10-3 0 -0.5 -1 (b) y(t) Ka = 80. -1.5 -2 -2.5 -3 0 0.2 0.4 0.6 0.8 1.0 1.2 Time (sec) 1.4 1.6 1.8 2.0

FIGURE 4.35 Disturbance step response. (a) MATLAB script. (b) Disturbance response for Ka 80.

2001 by Prentice Hall, Upper Saddle River, NJ.

Dorf/Bishop Modern Control Systems 9/E

D(s) R (s) (a) 1.40 K 1 (s 1)2 Y(s)

1.00 0.70 0.50 e(t) 0.08 0 K 10 K 1.0

0.70

2 Time (b)

FIGURE 4.36 (a) A single-loop feedback control system. (b) The error response for a unit step disturbance when R(s) 0.

2001 by Prentice Hall, Upper Saddle River, NJ.