ME 3623 ASSIGNMENT #5

Solutions

Qu1.

(a) Evaluating the damping ratio by subst. %OS=10

ln(%OS /100)
=
= 0.59
ln 2 (%OS /100) + 2
The real part of the operating point is

4
4
=
= 1.009
Ts
3.964

Imaginary part
Real part
The imaginary part of the operating point is
tan(cos 1 0.59) =

Imaginary part = tan(cos 1 0.59) * Real part = 1.381

The operating point is 1.009 + j1.381
(b) The gain at the operating point has to be determined.
This is to be done at the point 1.009 + j1.381. From the pole s = 0
L1 = (1.009) 2 + (1.381) 2 = 1.71. From the pole s = 3
L2 = (3 1.009) 2 + (1.381) 2 = 2.423. From the pole s = 5
L3 = (5 1.009) 2 + (1.381) 2 = 4.223
K = L1 L2 L3 = 17.5
(c) We need to evaluate K v of the uncompensated system using the K value
K v = lim sG ( s ) = lim
s 0

s 0

17.5s
7
=
s ( s + 3)( s + 5) 6

K v = 1.1667
(d) The steady state error of the uncompensated system is
1
e( ) =
= 0.857
Kv
s + zc
s + 0.1
17.5s ( s + zc )
K v = lim sG ( s ) = lim
s 0
s 0 s ( s + 3)( s + 5)( s + 0.1)

(e) The compensator is

17.5 zc
1.5
0.857
e( ) =
= 0.25
3.429
Kv =

Therefore, the new K v is

1
1
=
=4
e() 0.25

17.5 zc
=4
1.5
6
zc =
= 0.3429
17.5
Therefore, the compensator is

s + 0.3429
s + 0.1

As before
0.857
e() =
= 0.25
3.429

(f)

(g)

Step Response
10
System: sys3
Time (sec): 9.06
Amplitude: 8.8
System: sysp1
Time (sec): 8.85
Amplitude: 7.99

Amplitude

5
Time (sec)

10

G(s) =

K
s + 2n s + n
2

K
K
=
s + 5s + 4 ( s + 1)( s + 4)
2

(d)

Since the open loop TF with the PID is order 3,

there will be 3 closed loop poles with the gain of 3.08.
The pole is located at a position x on the real axis
and using the magnitude criterion
x( x 4)( x 1)
= 3.08
( x 6.93)( x 0.1)
Simplifying
x3 8.08 x 2 + 25.65 x 2.13 = 0
Now, the complex poles -4 3 j are roots of the above Eq.
as these roots satisfy the same gain value.
Therefore, ( x + 4 3 j )( x + 4 + 3 j ) = x 2 + 8 x + 25 is a factor of
x3 8.08 x 2 + 25.65 x 2.13
The other factor is what we want and must be on the real axis.
( x 2 + 8 x + 25)( x ?) = x 3 8.08 x 2 + 25.65 x 2.13
2.13
= 0.085
25
Therefore, the third pole with gain 3.03 is located at s = 0.085
The unknown is

(e) The requirements are met. See below

Step Response
System: syspc
Time (sec): 0.808
Amplitude: 0.885

0.9

0.8

0.7

Amplitude

0.6

0.5

0.4

0.3

0.2

0.1

-0.1
0

3
Time (sec)

Step Response
1
System: syspc
Time (sec): 36.3
Amplitude: 0.993

0.9

0.8

0.7

Amplitude

0.6

0.5

0.4

0.3

0.2

0.1

10

15

20
Time (sec)

25

30

35

40