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Lecture 41
Reading:
Nise: Secs. 5.15.3
X (s )
H 1 (s )
H 2(s )
Y (s )
H 1 (s )H 2(s )
U (s )
Y (s )
(s )
H 2 (s )
+
+
Y (s )
U (s )
H 1(s ) + H 2(s )
Example 1
Express
H(s) =
1
s2
6
+ 5s + 6
c D.Rowell 2008
copyright
41
Y (s )
s2
6
3
2
=
+ 5s + 6
s+3 s+2
3
s + 3
U (s )
2
s + 2
Y (s )
o r d e r o f b lo c k s is a r b itr a r y
6
6
s+2 s+3
6
s + 3
U (s )
Y (s )
+
6
s + 2
Notes:
c)Associative Rule:
U
(s )
U
+
H (s )
(s )
H (s )
(s )
1
Y (s )
U
2
(s )
Y (s )
+
H (s )
(s )
H
(s )
Y (s )
U (s )
(s )
H
(s )
Y (s )
a) Unity feedback
+
R (s )
re fe re n c e
in p u t
E (s )
c o n tr o lle r
e rro r
p la n t
(s )
G
(s )
C (s )
c o n tr o lle d
o u tp u t
fe e d b a c k p a th
Notes:
(a) The term unity feedback means that the actual output value is used to generate the
error signal (the feedback gain is 1).
(b) In control theory transfer functions in the forward path are often designated by G(s)
(see below).
(c) It is common to use R(s) to designate the reference (desired) input, and C(s) to desig
nate the controlled (output) variable.
From the block diagram:
C(s) = (Gp (s)Gc (s))E(s)
and
E(s) = R(s) C(s)
or
C(s) = Gp (s)Gc (s)(R(s) C(s)
Rearranging:
Gcl (s) =
C(s)
Gc (s)Gp s
=
R(s)
1 + Gc (s)Gp s
Example 2
Find the closed-loop transfer function for the automobile cruise control example:
(s )
d e s ir e d
s p e e d
+
-
E (s )
e rro r
c o n tr o lle r
G c (s )
c a r d y n a m ic s
q (s )
fe e d b a c k p a th
43
(s )
V (s )
a c tu a l
s p e e d
V (s)
Ks
=
(s)
ms + B
(s)
= Kc
E(s)
V (s)
Gc (s)Gp (s)
=
Vd (s)
1 + Gc (s)Gp (s)
Kc Ke
ms+B
Kc Ke
+ ms+B
Kc Ke
,
ms + (B + Kc Ke )
Kc Ke
vd
ms + (B + Kc Ke ) s
Kc Ke
vd
ms + (B + Kc Ke ) s
Kc Ke
B + Kc K e
Until now we have assumed that the output variable y(t) is measured instantaneously, and
without error. Frequently the sensor has its own dynamics - for example the sensor might
be temperature measuring device modeled as a rst-order system:
44
s y s te m
o u tp u t
fe e d b a c k
s ig n a l
s e n s o r
1
t ss + 1
t
R (s )
c o n tr o lle r
E (s )
re fe re n c e
in p u t
e rro r
p la n t
(s )
G
(s )
C (s )
in d ic a te d o u tp u t
s e n s o r
a c tu a l
o u tp u t
H (s )
C(s)
Gc (s)Gp (s)
=
R(s)
1 + Gc (s)Gp (s)H(s)
Example 3
Suppose that velocity sensor in the cruise control is noisy, and a simple elec
trical lter is used to smooth the output. Find the eect of the lter on the
closed-loop dynamics.
filte r
R
fro m
s e n s o r
s e n s o r
45
o u t
to c o n tr o lle r
d (s )
re fe re n c e
in p u t
E (s )
c o n tr o lle r
K
e rro r
Vout (s)
1
=
Vsensor (s)
RCs + 1
p la n t
K e
m s + B
in d ic a te d s p e e d
V (s )
filte r
a c tu a l
s p e e d
R C s + 1
Kc Ke
ms+B
Kc Ke
(ms+B)(RCs+1)
Kc Ke (RCs + 1)
(ms + B)(RSs + 1) + Kc Ke
Gcl (s) =
mRCs2
Kc Ke (RCs + 1)
+ (BRC + m)s + (B + Kc Ke )
and the dierential equation relating the speed of the car to the desired speed
command is now
mRCv + (BRC + m)v + (B + Kc Ke )v = Kc Ke RC v d + Kc Ke vd
and we note:
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