1 / 58

Chapter 4

Chapter 4. Time Response. Figure 4.1 a. System showing input and output; b. pole-zero plot of the system; c. evolution of a system response. Follow blue arrows to see the evolution of the response component generated by the pole or zero.

theophilus
Download Presentation

Chapter 4

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. Chapter 4 Time Response ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  2. Figure 4.1a. System showinginput and output;b. pole-zero plotof the system;c. evolution of asystem response.Follow blue arrowsto see the evolutionof the responsecomponent generatedby the pole or zero. ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  3. Figure 4.2Effect of a real-axispole upon transientresponse ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  4. Figure 4.3System forExample 4.1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  5. Figure 4.4a. First-order system;b. pole plot ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  6. Figure 4.5First-order systemresponse to a unitstep ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  7. Figure 4.6Laboratory resultsof a system stepresponse test ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  8. Figure 4.7Second-ordersystems, pole plots,and stepresponses ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  9. Figure 4.8Second-orderstep response componentsgenerated bycomplex poles ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  10. Figure 4.9System forExample 4.2 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  11. Figure 4.10Step responsesfor second-ordersystemdamping cases ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  12. Figure 4.11Second-orderresponse as a function of damping ratio ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  13. Figure 4.12Systems forExample 4.4 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  14. Figure 4.13Second-orderunderdampedresponses fordamping ratio values ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  15. Figure 4.14Second-orderunderdampedresponsespecifications ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  16. Figure 4.15Percentovershoot vs.damping ratio ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  17. Figure 4.16Normalized risetime vs. dampingratio for asecond-orderunderdampedresponse ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  18. Figure 4.17Pole plot for anunderdamped second-ordersystem ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  19. Figure 4.18Lines of constantpeak time,Tp , settlingtime,Ts , and percentovershoot, %OSNote: Ts2 < Ts1 ;Tp2< Tp1; %OS1 <%OS2 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  20. Figure 4.19Step responsesof second-orderunderdamped systemsas poles move:a. with constant real part;b. with constant imaginary part;c. with constant damping ratio ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  21. Figure 4.20Pole plot forExample 4.6 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  22. Figure 4.21Rotationalmechanical system for Example 4.7 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  23. Figure 4.22The CybermotionSR3 security roboton patrol. Therobot navigates byultrasound and pathprograms transmittedfrom a computer,eliminating the needfor guide strips onthe floor. It has videocapabilities as well astemperature, humidity,fire, intrusion, and gassensors. Courtesy of Cybermotion, Inc. ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  24. Figure 4.23Component responses of a three-pole system:a. pole plot;b. componentresponses: nondominant pole is neardominant second-order pair (Case I), far from the pair (Case II), andat infinity (Case III) ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  25. Figure 4.24Step responsesof system T1(s),system T2(s), andsystem T3(s) ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  26. Figure 4.25Effect of addinga zero to a two-pole system ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  27. Figure 4.26Step responseof anonminimum-phase system ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  28. Figure 4.27Nonminimum-phaseelectrical circuit ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  29. Figure 4.28Step response of the nonminimum-phasenetwork of Figure 4.27 (c(t)) and normalized step response of anequivalent networkwithout the zero(-10co(t)) ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  30. Figure 4.29a. Effect of amplifiersaturation on load angular velocityresponse;b. Simulink blockdiagram ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  31. Figure 4.30a. Effect ofdeadzone onload angulardisplacementresponse;b. Simulink blockdiagram ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  32. Figure 4.31a. Effect of backlashon load angulardisplacementresponse;b. Simulink blockdiagram ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  33. Figure 4.32Antenna azimuthposition controlsystem for angularvelocity:a. forward path;b. equivalentforward path ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  34. Figure 4.33UnmannedFree-SwimmingSubmersible(UFSS) vehicle Courtesy of Naval Research Laboratory. ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  35. Figure 4.34Pitch control loop forthe UFSS vehicle ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  36. Figure 4.35Negative stepresponse of pitch control for UFSS vehicle ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  37. Figure 4.36A ship at sea,showing roll axis ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  38. Figure P4.1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  39. Figure P4.2 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  40. Figure P4.3 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  41. Figure P4.4 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  42. Figure P4.5 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  43. Figure P4.6 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  44. Figure P4.7 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  45. Figure P4.8 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  46. Figure P4.9(figure continues) ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  47. Figure P4.9 (continued) ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  48. Figure P4.10Steps in determiningthe transfer functionrelating output physicalresponse to the inputvisual command ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  49. Figure P4.11Vacuum robot liftstwo bags of salt Courtesy of Pacific Robotics, Inc. ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

  50. Figure P4.12 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e

More Related