ADJUSTING SERVO DRIVE COMPENSATION George W. Younkin, P.E. Life Fellow IEEE Industrial Controls Research, Inc. Fond du Lac, Wisconsin
|
|
- Kristopher Houston
- 6 years ago
- Views:
Transcription
1 ADJUSTING SERVO DRIVE COMPENSATION George W. Younkin, P.E. Life Fello IEEE Industrial Controls Research, Inc. Fond du Lac, Wisconsin All industrial servo drives require some form of compensation often referred to as proportional, integral, and differential (PID). The process of applying this compensation is knon as servo equalization or servo synthesis. In general, commercial industrial servo drives use proportional, and integral compensation (PI). It is the purpose of this discussion to analyze and describe the procedure for implementing PI servo compensation. The block diagram of figure 1 represents dc and brushless dc motors. All commercial industrial servo drives make use of a current loop for torque regulation requirements. Figure 1 includes the current loop for the servo drive ith PI compensation. Since the block diagram of figure 1 is not solvable, block diagram algebra separates the servo loops to an inner and outer servo loop of figure 2. For this discussion a orst case condition for a large industrial servo axis ill be used. The folloing parameters are assumed from this industrial machine servo application: Motor - Kollmorgen motor - M67B 1
2 Machine slide eight - 5, lbs Ball scre: Length - 7 inches Diameter - 3 inches Lead inches/revolution Pulley ratio J T Total inertia at the motor.3511 lb-in-sec 2 t e Electrical time constant.2 second 5 t 1 t e K e Motor voltage constant.646 volt-sec/radian K T Motor torque constant 9.9 lb-in/amp K G Amplifier gain 2 volts/volt K ie Current loop feedback constant 3 volts/4a.75 volt/amp R a Motor armature circuit resistance.189 ohm K i Integral current gain 735 amp/sec/radian/sec The first step in the analysis is to solve the inner loop of figure 2. The closed loop response I/e 1 G/1+GH here: G 1/R a (t e S+1) 5.29/[t e S+1] ( db) GH.646 x 9.9/[.189x.3511[(t e S+1)S] GH 96/S[t e S+1] 96 39dB 1/H J T S/K e K T.3511S/.646 x 9.9 1/H.54 S ( db) Using the rules of Bode, the resulting closed loop Bode plot for I/e 1 is shon in figure 3. Solving the closed loop mathematically : I e 1 G 1 + GH 1 R ( t S + 1) + K K J S a e e T / T JT S J R S( t S + 1) + K K T a e e T I J T S J T / K e K T S e 1 J T R a t e S 2 + J T R a S+K e K T [(J T R a /K e K T )t e S 2 +(J T R a /K e K T ) S + 1] I (.3511/.646x9.9) S.54 S e 1 t m t e S 2 + t m S +1.1x.2 S S + 1 here: t m J T R a.3511 x sec, m 1/t m 1 ra/sec K e K T.646 x 9.9 t e.2 sec e 1/t e 5 For a general quadratic- S delta S + 1 Wr 2 r r [ m e ] 1/2 [1 x 5] 1/2 7 I.54S 2 2 e1 S / 7 + (2delta / 7) S + 1 2
3 Attenuation db 2 log g( j ) 2. log b( j ) 2 log gh( j ) 2 log c( j ) g(s) 1/h(s) gh(s) I/e1 Fig 3 Current inner loop Having solved the inner servo loop it is no required to solve the outer current loop. The inner servo loop is shon as part of the current loop in figure 4. In solving the current loop, the forard loop, open loop, and feedback loop must be identified as follos: The forard servo loop- 3
4 G K i K G x.54 (.2S+1) 735 x 2 x.54 (.2S+1).2 S S + 1.2S S + 1 G 794(.2 S+1) 15.88S S 2 +.1S + 1.2S 2 +.1S + 1 Where: K G 2 volt/volt K ie 3/4.75 volt/amp K i K G x (58 db) K i 794/(2 x.54)735 G 79,4S + 3,97, S S + 5 The open loop- GH.75 x 79,4S +3,97, S 2 + 5S + 5 GH 5955S + 297,75 S 2 + 5S Magnitude db,phase- Degrees 2 log g( j ) 2 log b( j ) 2 log gh( j ) 2 log c( j ) 18 arg gh j π ( ( )) g(s) 1/h(s) gh(s) I/ei Phase Fig 5 Current loop response 4
5 The feedback current scaling is- H 3 volts/4 amps.75 volts/amp 1/H db The Bode plot frequency response is shon in figure 5. The current loop bandidth is 6 radians/second or about 1 Hz, hich is realistic for commercial industrial servo drives. The current loop as shon in figure 5 can no be included in the motor servo loop ith reference to figure 2 and reduces to the motor servo loop block diagram of figure 6. The completed motor servo loop has a forard loop only (as shon in figure 6) here: J T Total inertia at the motor.3511 lb-in-sec 2 K T Motor torque constant 9.9 lb-in/amp G 13.3 x (51.5 db).3511s ((j/6) +1) S(.166S + 1) G 375 2,25,9.166S 2 + S + S 2 + 6S + v o K T x I 9.9 x 13.1(.2S + 1) e i J T S v i.3511s.331s 2 +.2S + 1 v o 375 (.2S + 1) e i S.331 (S + 5)(S ) v 375 (.2S + 1) e i S.331 x 5 x 5991 ((S/5) + 1)(((s/5991) + 1) v o 375 (.2S + 1) e i S (.2S + 1)(.166S + 1) v o 375 e i S ((j/5991) + 1) 5
6 Vel. (), Phase-degrees 2 log c( j ) 18 π arg( c( j ) ) Vo/ei Phase Fig 7 Mot.&I loop freq. response The Bode frequency response for the motor and current loop is shon in figure 7. The motor and current closed loop frequency response, indicate that the response is an integration hich includes the 6 bandidth of the current loop. This is a realistic bandidth for commercial industrial servo drives. Usually this response is enclosed in a velocity loop and further enclosed in a position loop. Hoever, there are some applications here the motor and current loop are enclosed in a position loop. Such an arrangement is shon in figure 7a. 6
7 The forard loop transfer function is Kv G 2 S (( j / 6) + 1) Where: K v K 2 x 375 For most large industrial machine servo drives a position loop k v 1 ipm/mil or 16.6 can be assumed. The frequency response for the position loop is shon in figure 7b. This response is obviously unstable ith a minus 2 slope at the zero gain point. It is also obvious that there are to integrators in series, resulting in an oscillator. If a velocity loop is not used around the motor and current loop, some form of differential function is required to obtain stability. By adding a differential term at about 1g in figure 7b, the response can be modified to that of a type 2 control hich could have performance advantages. The absence of the minor velocity servo loop bandidth could make it possible to increase the position loop velocity constant (position loop gain) for an increase in the position loop response. Magnitude db 2 log g( j ) 2 log g2( j ) Fig. 7b Position loop response For the purposes of this discussion it ill be assumed that the motor and current loop are enclosed in a velocity servo loop. Such an arrangement is shon in figure 8. 7
8 The servo compensation and amplifier gain are part of the block identified as K 2. Most industrial servo drives use proportional plus integral (PI) compensation. The amplifier and PI compensation can be represented as in figure 9 1. Figure 9 I V 2 K p + K s i K s + K p s i K p Ki s + 1 Ki s [ t s ] K s t 2 K K p i K i 2 (Corner frequency) K p The adjustment of the PI compensation is suggested as- 1.For the uncompensated servo Bode plot, set the amplifier gain to a value just belo the level of instability. 2. Note the forard loop frequency ( g ) at 135 degree phase shift (45 degrees phase margin) of figure From the Bode plot for PI compensation of figure 1, the corner frequency 2 K i /K p should be approximately g /1 or smaller as a figure of merit 1. The reason for this is that the attenuation characteristic of the PI controller has a phase lag that is detrimental to the servo phase margin. Thus the corner frequency of the PI compensation should be loered about one decade or more from the 135 degree phase shift point ( g ) of the open loop Bode plot for the servo drive being compensated. For the servo drive being considered, g occurs at 6. 8
9 6 4 2 Magnitude db, Phase-deg 2 log c( j ) 18 π arg( c( j ) ) Magnitude Phase Fig 1 PI Compensation Applying the PI compensation of figure 9, to the velocity servo drive is shon if figure 11. In general the accepted rule for setting the servo compensation begins by removing the integral and/or differential compensation. The proportional gain is then adjusted to a level here the velocity servo response is just stable. The proportional gain is then reduced slightly further for a margin of safety. For a gain K 2 1 of the uncompensated servo, the Bode plot is shon in figure 12. It should be noted that the motor and current loop have a bandidth of 6 as shon in figure 7. This is a normal response for industrial servo drive current loops. The transient response for this servo is shon in figure 9
10 13 as a damped oscillatory response. If the gain K 2 is reduced to a value of 266 for a forard loop gain of 1,, the Bode plot is shon in figure 14 ith a stable transient response shon in figure 15. Magnitude db,phase Degrees 2 log c( j ) 2 log g( j ) 18 arg gh j π ( ( )) Vel/ei g(s) Phase Fig 12 Velocity loop response c( t) t Time (sec) c(t) Fig 13 Transient response 1
11 Magnitude db,phase degrees 2 log g( j ) 2 log b ( j ) 2 log c( j ) 18 π arg ( c( j )) Fig 14 Velocity loop response ct () t Time-sec Fig 15 Transient response 11
12 At this point the PI compensation is added as shon in figure 11. The index of performance for the PI compensation is that the corner frequency 2 K i /K p, should be a decade or more loer than the 135 degree phase shift (45 degree phase margin) frequency ( g ) of the forard loop Bode plot (figure 14) for the industrial servo drive being considered 1. With reference to figure 14 of the stable uncompensated servo, the 135 degree phase shift (45 degree phase margin) occurs at 6 frequency hich is also the bandidth of the motor/current loop. Using the index of performance of setting the PI compensation corner frequency at one decade or more loer in frequency that the 135 degree phase shift frequency point, the corner frequency should be set at 6 or loer. With the corner frequency of the PI compensation set at 6 (.1666 sec) the compensated servo is shon in the Bode plot of figure 16. The transient response is shon in figure 17 as a highly oscillatory velocity servo drive. Obviously this servo drive needs to have the PI compensation corner frequency much loer than one decade (6 ) index of performance. For a to decade, 6 (.166 sec) loer setting for the PI corner frequency the Bode response is shon in figure 18 ith a transient response shon in figure 19 having a single overshoot in the output of the velocity servo drive. By loering the PI compensation corner fequency ( 2 K p servo drive results. The forard loop and open loop are defined as follos: H.286 v/ 1/H 34.9 (3.8 db) 1 1 db 1, K 2 1,/ G K 2 x 375 ((j/2)+1) 1, ((j/2)+1) (1 db) S 2 ((j/6)+1) S 2 ((j/6)+1) G 1, (.5S+1) 5S + 1, S 2 (.166S +1) S 2 (.166S +1) G 3,12,481S + 62,49,638 S S 2 + S+ K i ) to 2 (.5 sec), a stable velocity GH.286 x G 286 ((j/2)+1) S 2 ((j/6)+1) (69 db) The Bode plot for the velocity loop ith PI compensation is shon in figure 2, having a typical industrial velocity servo bandidth of 3 Hz (188 ). The tansient response is stable ith a slight overshoot in velocity as shon in figure
13 Magnitude db 2 log c ( j ) 18 arg ( c ( j ) ) π g(s) 1/h(s) gh(s) Vel/ei Phase Fig 16 Velocity loop response vel.- ct () t Time - sec Vel. Fig 17 Vel. servo trans. resp. 13
14 Magnitude-dB,Phase-degrees 2 log g( j ) 2 log b( j ) 2 log gh( j ) 2 log c( j ) 18 arg gh j π ( ( )) Fig 18 Vel. loop response 14
15 c( t) t Time-sec c(t) Fig 19 Vel. servo trans. resp. Magnitude-dB,Phase-degrees 2 log g( j ) 2 log b( j ) 2 log gh( j ) 2 log c( j ) 18 π arg( c( j )) g(s) 1/H(s) gh(s) Vel./Vr Phase Fig. 2 Velocity servo response 15
16 Vel.- c( t) t Time-sec Vel. Fig. 21 Vel. servo trans. resp. POSITION SERVO LOOP COMPENSATION Having compensated the velocity servo, it remains to close the position servo around the velocity servo. Commercial industrial positioning servos do not normally use any form of integral compensation in the position loop. This is referred to as a naked position servo loop. Hoever, for type 2 positioning drives, PI compensation ould be used in the forard position loop. There are also some indexes of performance rules for the separation of inner servo loops by their respective bandidths 3. The first index of performance is knon as the 3 to 1 rule for the separation of a machine resonance from the inner velocity servo. All industrial machines have some dynamic characteristics, hich include a multiplicity of machine resonances. It is usually the loest mechanical resonance that is considered; and the index of performance is that the inner velocity servo bandidth should be 1/3 loer than the predominant machine structural resonance. A second index of performance is that the position servo velocity constant (K v ) or position loop gain, should be ½ the velocity servo bandidth 3. These indexes of performance are guides for separating servo loop bandidths to maintain some phase margin and overall system stability. Industrial machine servo drives usually require lo position loop gains to minimize the possibility of exciting machine resonances. In general for large industrial machines the position loop gain (K v ) is set about 1 ipm/mil (16.66/sec). The example being studied in this discussion has a machine slide eight of 5, lbs., hich can be considered a large machine that could have detrimental machine dynamics. There are numerous small machine applications here the position loop gain can be increased several orders of magnitude. The technique of using a lo position loop gain is referred to as the soft servo. A lo position loop gain can be detrimental to such things as servo drive stiffness and accuracy. The soft servo technique also requires a high-performance inner velocity servo loop. This inner velocity servo loop ith its high-gain forard loop, overcomes the problem of lo stiffness. For example, as the 16
17 machine servo drive encounters a load disturbance the velocity ill instantaneously try to reduce, increasing the velocity servo error. Hoever the high velocity servo forard loop gain ill cause the machine axis to drive right through the load disturbance. This action is an inherent part of the drive stiffness 3. For this discussion it ill be assumed that the industrial machine servo drive being considered has a structural mechanical spring/mass resonance inside the position loop. The machine as connected to the velocity servo drive is often referred to as the servo plant. The total machine/servo system can be simulated quite accurately to include the various force or torque feedback loops for the total system 4. For expediency in this discussion, a predominant spring/mass resonance ill be added to the output of the velocity servo drive. Thus the total servo system is shon in the block diagram of figure 22. Position feedback is measured at the machine slide to attain the best position accuracy. As stated previously, the index of performance for the separation of the velocity servo bandidth and the predominant machine resonance should be 3 to 1; here the velocity servo bandidth is loer than the resonance. The machine resonance is shon if figure 22 as r. Since the velocity servo bandidth of this example is 3 Hz (188 ) as in figure 2, the loest machine resonance should be three times higher or 9 Hz (565 ). It is further assumed that this large machine slide has roller bearing ays ith a coefficient of friction.1 lbf/lb, and a damping factor (δ.1). Additionally, this industrial servo driven machine slide (5, lbs) ill have a characteristic velocity constant (K v ) of 1 ipm/mil (16.66/sec). This large machine as used for this discussion as a orst case scenario since the large eight aggravates the reflected inertia and machine dynamics problems. Most industrial machines are not of this size. The closed loop frequency response ith a mechanical resonance ( r ) of 9 Hz (565 ) is shon in figure 23. A unity step in position transient response is shon in figure 24. These are acceptable servo responses for the machine axis being analyzed. In reality a machine axis eighing 25 tons ill have structural resonances much loer than 9Hz. Machine axes of this magnitude in size ill characteristically have structural resonances of about 1Hz to 2Hz. Using the same position servo block diagram of figure 22 ith the same position loop gain of 1 ipm/mil (16.66/sec), and a machine resonance of 1 Hz; the servo frequency response is shon in figure 25 ith the transient response shon in figure 26. The position servo frequency response shos a 8 db resonant (62.8 ) peak over zero db, hich ill certainly be unstable as observed in the transient response. Repeating the position servo analysis ith a 2 Hz resonance in the machine structure, results in an oscillatory response as shon in figure 27 and 28. One of the most significant problems ith industrial machines is in the area of machine dynamics. Servomotors and their associated amplifiers have very long mean time before failure characteristics. It is 17
18 quite common to have an industrial velocity servo drive ith 2 Hz to 3 Hz bandidths mounted on a machine axis having structural dynamics (resonances) near or much loer than the internal velocity servo bandidth. There must be some control concept to compensate for these situations. There are a number of control techniques that can be applied to compensate for machine structural resonances that are both lo in frequency and inside the position servo loop. The first control technique is to loer the position loop gain (velocity constant). Depending on ho lo the machine resonance is, the position loop gain may have to be loered to about.5 ipm/mil (8.33/sec.). This solution has been used in numerous industrial positioning servo drives. Hoever, such a solution also degrades servo performance. For very large machines this may not be acceptable. The index of performance that the position loop gain (velocity constant) should be loer than the velocity servo bandidth by a factor of to, ill be compromised in these circumstances. A very useful control technique to compensate for a machine resonance is the use of ien bridge notch filters 3. These notch filters are most effective hen placed in cascade ith the position forard servo loop, such as at the input to the velocity servo drive. These notch filters should have a tunable range from approximately 5 Hz to a couple of decades higher in frequency. The notch filters are effective to compensate for fixed machine structural resonances. If the resonance varies due to such things as load changes, the notch filter ill not be effective. There are commercial control suppliers that incorporate digital versions of a notch filter in the control; ith a future goal to sense a resonant frequency and tune the notch filter to compensate for it. This control technique can be described as an adaptive process. Another technique that has been very successful ith industrial machines having lo machine resonances, is knon as frequency selective feedback 5,6,7. This control technique is the subject of another discussion. In abbreviated form it requires that the position feedback be located at the servo motor eliminating the mechanical resonances from the position servo loop, resulting in a stable servo drive but ith significant position errors. These position errors are compensated for by measuring the machine slide position through a lo pass filter; taking the position difference beteen the servo motor position and the machine slide position; and making a correction to the position loop; hich is primarily closed at the servo motor. Conclusions Commercial industrial electric brushless DC servo drives use an inner current/torque loop to provide adequate servo stiffness. The servo loop bandidth for the current loop is usually about 1 Hz. In analysis this servo loop is often neglected because of its ide bandidth. Including the current loop as in figure 2, results in a motor and current loop response (figure 7) that is an integration ith the current loop response. A classical servo technique is to enclose the motor/current loop in a velocity servo loop. Since most commercial industrial brushless DC servo drives have position feedback from the motor armatrure for the purpose of current commutation; this signal is differentiated to produce a synthetic velocity loop. Additionally, commercial industrial servo drives use proportional plus integral (PI) servo compensation to stabalize the synthetic velocity loop. The PI type of compensation has a corner frequency that must be a decade or more loer in frequency than the 45 degree phase shift frequency of the uncompensated open loop Bode plot. This requirement is needed to avoid excessive phase lag from the PI compensation here the open loop 45-degree phase shift frequency occurs. Commercial industrial electric servo drives have a very long mean time beteen failure, and 18
19 therefore are very reliable. The servo plant (the machine that the servo drive is connected to) has consistent problems ith structural dynamics. When these mechanical resonances have lo frequencies that occur ithin the servo bandidths, unstable servo drives can result. The solution to such a problem can be a degradation in performance by loering the position loop gain; using notch filters to tune out the resonance; or using a control technique referred to as frequency selective feedback 5,6,7. References 1. Kuo, B. C., AUTOMATIC CONTROL SYSTEMS, Prentice Hall, 7th edition, Younkin, G.W., Brushless DC Motor and Current Servo Loop Analysis Using PI Compensation. 3. Younkin, G.W., INDUSTRIAL CONTROL SYSTEMS, Marcel Dekker, Inc.,1996, ISBN Younkin, G.W., Modeling Machine Tool Feed Servo Drives Using Simulation Techniques to Predict Performance, IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL 27, NO. 2, Shinners,S.M., Minimizing Servo Load Resonance Error, CONTROL ENGINEERING, January, 1962, P Jones, G.H., U.S. Patent 3,358,21, Apparatus for Compensating Machine Feed Drive Servomechanisms, December 12, Young,G. and Bollinger, J.G., A Research Report on the Principles and Applications of Frequency Selective Feedback, University of Wisconsin, Department of Mechanical Engineering, Engineering Experimental Station, March Younkin, G.W., INDUSTRIAL CONTROL SYSTEMS, 2 nd Ed, Marcel Dekker, Inc.,23, ISBN Figure 23 and 24 ω 9 Hz δ.1 r g( s ) s(.53s + 1)(.31s h ( s) 1 Figure 25 and 26 ω 1 Hz δ.1 r g( s ) h ( s) s(.53s + 1)(.253s 1 Figure 27 and 28 ω 2 Hz δ.1 r s + 1) s + 1) g( s ) s(.53s + 1)(.64s s + 1) 19
20 h ( s) 1 Magnitude-dB, Phase-degrees 2 log g ( j ) 2 log h ( j ) 2 log c ( j ) 18 arg ( c ( j ) ) π g(s) h(s) Pos. Phase Fig 23 Position loop response-wr9hz 2
21 Position-in c( t) t Time-sec Pos. Fig 24 Pos. transient response Magnitude-dB 2 log g( j ) 2. log h( j ) 2 log c( j ) 18 π arg( g( j ) ) g(s) h(s) Pos. Phase Fig 25 Pos. loop response-wr1hz 21
22 Pos-in c( t) t Time-sec c(t) Fig 26 Pos. transient response Magnitude-dB,Phase-Degrees 2 log g( j ) 2 log h ( j ) 2 log c ( j ) 18 arg ( c ( j ) ) π Fig. 27 Pos. loop response-wr2hz 22
23 Position (inches) ct () t Time-sec Fig 28 Transient resp.-wr2hz 23
ANNA UNIVERSITY :: CHENNAI MODEL QUESTION PAPER(V-SEMESTER) B.E. ELECTRONICS AND COMMUNICATION ENGINEERING EC334 - CONTROL SYSTEMS
ANNA UNIVERSITY :: CHENNAI - 600 025 MODEL QUESTION PAPER(V-SEMESTER) B.E. ELECTRONICS AND COMMUNICATION ENGINEERING EC334 - CONTROL SYSTEMS Time: 3hrs Max Marks: 100 Answer all Questions PART - A (10
More informationThis manuscript was the basis for the article A Refresher Course in Control Theory printed in Machine Design, September 9, 1999.
This manuscript was the basis for the article A Refresher Course in Control Theory printed in Machine Design, September 9, 1999. Use Control Theory to Improve Servo Performance George Ellis Introduction
More informationPosition Control of DC Motor by Compensating Strategies
Position Control of DC Motor by Compensating Strategies S Prem Kumar 1 J V Pavan Chand 1 B Pangedaiah 1 1. Assistant professor of Laki Reddy Balireddy College Of Engineering, Mylavaram Abstract - As the
More information(1) Identify individual entries in a Control Loop Diagram. (2) Sketch Bode Plots by hand (when we could have used a computer
Last day: (1) Identify individual entries in a Control Loop Diagram (2) Sketch Bode Plots by hand (when we could have used a computer program to generate sketches). How might this be useful? Can more clearly
More informationEC CONTROL SYSTEMS ENGINEERING
1 YEAR / SEM: II / IV EC 1256. CONTROL SYSTEMS ENGINEERING UNIT I CONTROL SYSTEM MODELING PART-A 1. Define open loop and closed loop systems. 2. Define signal flow graph. 3. List the force-voltage analogous
More informationDr Ian R. Manchester
Week Content Notes 1 Introduction 2 Frequency Domain Modelling 3 Transient Performance and the s-plane 4 Block Diagrams 5 Feedback System Characteristics Assign 1 Due 6 Root Locus 7 Root Locus 2 Assign
More informationBSNL TTA Question Paper Control Systems Specialization 2007
BSNL TTA Question Paper Control Systems Specialization 2007 1. An open loop control system has its (a) control action independent of the output or desired quantity (b) controlling action, depending upon
More informationPhys Lecture 5. Motors
Phys 253 Lecture 5 1. Get ready for Design Reviews Next Week!! 2. Comments on Motor Selection 3. Introduction to Control (Lab 5 Servo Motor) Different performance specifications for all 4 DC motors supplied
More informationAdvanced Servo Tuning
Advanced Servo Tuning Dr. Rohan Munasinghe Department of Electronic and Telecommunication Engineering University of Moratuwa Servo System Elements position encoder Motion controller (software) Desired
More informationJNTUWORLD. 6 The unity feedback system whose open loop transfer function is given by G(s)=K/s(s 2 +6s+10) Determine: (i) Angles of asymptotes *****
Code: 9A050 III B. Tech I Semester (R09) Regular Eaminations, November 0 Time: hours Ma Marks: 70 (a) What is a mathematical model of a physical system? Eplain briefly. (b) Write the differential equations
More informationJUNE 2014 Solved Question Paper
JUNE 2014 Solved Question Paper 1 a: Explain with examples open loop and closed loop control systems. List merits and demerits of both. Jun. 2014, 10 Marks Open & Closed Loop System - Advantages & Disadvantages
More informationLaboratory PID Tuning Based On Frequency Response Analysis. 2. be able to evaluate system performance for empirical tuning method;
Laboratory PID Tuning Based On Frequency Response Analysis Objectives: At the end, student should 1. appreciate a systematic way of tuning PID loop by the use of process frequency response analysis; 2.
More informationLecture 5 Introduction to control
Lecture 5 Introduction to control Feedback control is a way of automatically adjusting a variable to a desired value despite possible external influence or variations. Eg: Heating your house. No feedback
More informationA Machine Tool Controller using Cascaded Servo Loops and Multiple Feedback Sensors per Axis
A Machine Tool Controller using Cascaded Servo Loops and Multiple Sensors per Axis David J. Hopkins, Timm A. Wulff, George F. Weinert Lawrence Livermore National Laboratory 7000 East Ave, L-792, Livermore,
More informationFundamentals of Servo Motion Control
Fundamentals of Servo Motion Control The fundamental concepts of servo motion control have not changed significantly in the last 50 years. The basic reasons for using servo systems in contrast to open
More informationPosition Control of AC Servomotor Using Internal Model Control Strategy
Position Control of AC Servomotor Using Internal Model Control Strategy Ahmed S. Abd El-hamid and Ahmed H. Eissa Corresponding Author email: Ahmednrc64@gmail.com Abstract: This paper focuses on the design
More informationControl Design for Servomechanisms July 2005, Glasgow Detailed Training Course Agenda
Control Design for Servomechanisms 12 14 July 2005, Glasgow Detailed Training Course Agenda DAY 1 INTRODUCTION TO SYSTEMS AND MODELLING 9.00 Introduction The Need For Control - What Is Control? - Feedback
More informationCourse Outline. Time vs. Freq. Domain Analysis. Frequency Response. Amme 3500 : System Dynamics & Control. Design via Frequency Response
Course Outline Amme 35 : System Dynamics & Control Design via Frequency Response Week Date Content Assignment Notes Mar Introduction 2 8 Mar Frequency Domain Modelling 3 5 Mar Transient Performance and
More informationServo Tuning. Dr. Rohan Munasinghe Department. of Electronic and Telecommunication Engineering University of Moratuwa. Thanks to Dr.
Servo Tuning Dr. Rohan Munasinghe Department. of Electronic and Telecommunication Engineering University of Moratuwa Thanks to Dr. Jacob Tal Overview Closed Loop Motion Control System Brain Brain Muscle
More informationAn Introduction to Proportional- Integral-Derivative (PID) Controllers
An Introduction to Proportional- Integral-Derivative (PID) Controllers Stan Żak School of Electrical and Computer Engineering ECE 680 Fall 2017 1 Motivation Growing gap between real world control problems
More informationPROCEEDINGS OF THE SECOND INTERNATIONAL CONFERENCE ON SCIENCE AND ENGINEERING
POCEEDINGS OF THE SECOND INTENATIONAL CONFEENCE ON SCIENCE AND ENGINEEING Organized by Ministry of Science and Technology DECEMBE -, SEDONA HOTEL, YANGON, MYANMA Design and Analysis of PID Controller for
More informationEC6405 - CONTROL SYSTEM ENGINEERING Questions and Answers Unit - II Time Response Analysis Two marks 1. What is transient response? The transient response is the response of the system when the system
More informationApplication Note #2442
Application Note #2442 Tuning with PL and PID Most closed-loop servo systems are able to achieve satisfactory tuning with the basic Proportional, Integral, and Derivative (PID) tuning parameters. However,
More informationSERVOSTAR Position Feedback Resolution and Noise
APPLICATION NOTE ASU010H Issue 1 SERVOSTAR Position Resolution and Noise Position feedback resolution has two effects on servo system applications. The first effect deals with the positioning accuracy
More informationCHASSIS DYNAMOMETER TORQUE CONTROL SYSTEM DESIGN BY DIRECT INVERSE COMPENSATION. C.Matthews, P.Dickinson, A.T.Shenton
CHASSIS DYNAMOMETER TORQUE CONTROL SYSTEM DESIGN BY DIRECT INVERSE COMPENSATION C.Matthews, P.Dickinson, A.T.Shenton Department of Engineering, The University of Liverpool, Liverpool L69 3GH, UK Abstract:
More informationExperiment 9. PID Controller
Experiment 9 PID Controller Objective: - To be familiar with PID controller. - Noting how changing PID controller parameter effect on system response. Theory: The basic function of a controller is to execute
More informationGE420 Laboratory Assignment 8 Positioning Control of a Motor Using PD, PID, and Hybrid Control
GE420 Laboratory Assignment 8 Positioning Control of a Motor Using PD, PID, and Hybrid Control Goals for this Lab Assignment: 1. Design a PD discrete control algorithm to allow the closed-loop combination
More informationAdvanced Motion Control Optimizes Laser Micro-Drilling
Advanced Motion Control Optimizes Laser Micro-Drilling The following discussion will focus on how to implement advanced motion control technology to improve the performance of laser micro-drilling machines.
More informationprofile Using intelligent servo drives to filter mechanical resonance and improve machine accuracy in printing and converting machinery
profile Drive & Control Using intelligent servo drives to filter mechanical resonance and improve machine accuracy in printing and converting machinery Challenge: Controlling machine resonance the white
More informationA Fast PID Tuning Algorithm for Feed Drive Servo Loop
American Scientific Research Journal for Engineering, Technology, and Sciences (ASRJETS) ISSN (Print) 233-440, ISSN (Online) 233-4402 Global Society of Scientific Research and Researchers http://asrjetsjournal.org/
More informationBasic Tuning for the SERVOSTAR 400/600
Basic Tuning for the SERVOSTAR 400/600 Welcome to Kollmorgen s interactive tuning chart. The first three sheets of this document provide a flow chart to describe tuning the servo gains of a SERVOSTAR 400/600.
More informationElmo HARmonica Hands-on Tuning Guide
Elmo HARmonica Hands-on Tuning Guide September 2003 Important Notice This document is delivered subject to the following conditions and restrictions: This guide contains proprietary information belonging
More informationActive Vibration Isolation of an Unbalanced Machine Tool Spindle
Active Vibration Isolation of an Unbalanced Machine Tool Spindle David. J. Hopkins, Paul Geraghty Lawrence Livermore National Laboratory 7000 East Ave, MS/L-792, Livermore, CA. 94550 Abstract Proper configurations
More informationAndrea Zanchettin Automatic Control 1 AUTOMATIC CONTROL. Andrea M. Zanchettin, PhD Winter Semester, Linear control systems design Part 1
Andrea Zanchettin Automatic Control 1 AUTOMATIC CONTROL Andrea M. Zanchettin, PhD Winter Semester, 2018 Linear control systems design Part 1 Andrea Zanchettin Automatic Control 2 Step responses Assume
More information1.What is frequency response? A frequency responses the steady state response of a system when the input to the system is a sinusoidal signal.
Control Systems (EC 334) 1.What is frequency response? A frequency responses the steady state response of a system when the input to the system is a sinusoidal signal. 2.List out the different frequency
More informationAndrea Zanchettin Automatic Control 1 AUTOMATIC CONTROL. Andrea M. Zanchettin, PhD Spring Semester, Linear control systems design
Andrea Zanchettin Automatic Control 1 AUTOMATIC CONTROL Andrea M. Zanchettin, PhD Spring Semester, 2018 Linear control systems design Andrea Zanchettin Automatic Control 2 The control problem Let s introduce
More informationFrequency Response Analysis and Design Tutorial
1 of 13 1/11/2011 5:43 PM Frequency Response Analysis and Design Tutorial I. Bode plots [ Gain and phase margin Bandwidth frequency Closed loop response ] II. The Nyquist diagram [ Closed loop stability
More informationEEL2216 Control Theory CT2: Frequency Response Analysis
EEL2216 Control Theory CT2: Frequency Response Analysis 1. Objectives (i) To analyse the frequency response of a system using Bode plot. (ii) To design a suitable controller to meet frequency domain and
More informationDEPARTMENT OF ELECTRICAL AND ELECTRONIC ENGINEERING BANGLADESH UNIVERSITY OF ENGINEERING & TECHNOLOGY EEE 402 : CONTROL SYSTEMS SESSIONAL
DEPARTMENT OF ELECTRICAL AND ELECTRONIC ENGINEERING BANGLADESH UNIVERSITY OF ENGINEERING & TECHNOLOGY EEE 402 : CONTROL SYSTEMS SESSIONAL Experiment No. 1(a) : Modeling of physical systems and study of
More informationMEM01: DC-Motor Servomechanism
MEM01: DC-Motor Servomechanism Interdisciplinary Automatic Controls Laboratory - ME/ECE/CHE 389 February 5, 2016 Contents 1 Introduction and Goals 1 2 Description 2 3 Modeling 2 4 Lab Objective 5 5 Model
More informationBode and Log Magnitude Plots
Bode and Log Magnitude Plots Bode Magnitude and Phase Plots System Gain and Phase Margins & Bandwidths Polar Plot and Bode Diagrams Transfer Function from Bode Plots Bode Plots of Open Loop and Closed
More informationClassical Control Design Guidelines & Tools (L10.2) Transfer Functions
Classical Control Design Guidelines & Tools (L10.2) Douglas G. MacMartin Summarize frequency domain control design guidelines and approach Dec 4, 2013 D. G. MacMartin CDS 110a, 2013 1 Transfer Functions
More informationPole, zero and Bode plot
Pole, zero and Bode plot EC04 305 Lecture notes YESAREKEY December 12, 2007 Authored by: Ramesh.K Pole, zero and Bode plot EC04 305 Lecture notes A rational transfer function H (S) can be expressed as
More informationMTE 360 Automatic Control Systems University of Waterloo, Department of Mechanical & Mechatronics Engineering
MTE 36 Automatic Control Systems University of Waterloo, Department of Mechanical & Mechatronics Engineering Laboratory #1: Introduction to Control Engineering In this laboratory, you will become familiar
More informationCONTROLLER DESIGN FOR POWER CONVERSION SYSTEMS
CONTROLLER DESIGN FOR POWER CONVERSION SYSTEMS Introduction A typical feedback system found in power converters Switched-mode power converters generally use PI, pz, or pz feedback compensators to regulate
More informationThe Air Bearing Throughput Edge By Kevin McCarthy, Chief Technology Officer
159 Swanson Rd. Boxborough, MA 01719 Phone +1.508.475.3400 dovermotion.com The Air Bearing Throughput Edge By Kevin McCarthy, Chief Technology Officer In addition to the numerous advantages described in
More informationDC SERVO MOTOR CONTROL SYSTEM
DC SERVO MOTOR CONTROL SYSTEM MODEL NO:(PEC - 00CE) User Manual Version 2.0 Technical Clarification /Suggestion : / Technical Support Division, Vi Microsystems Pvt. Ltd., Plot No :75,Electronics Estate,
More informationCDS 101/110a: Lecture 8-1 Frequency Domain Design
CDS 11/11a: Lecture 8-1 Frequency Domain Design Richard M. Murray 17 November 28 Goals: Describe canonical control design problem and standard performance measures Show how to use loop shaping to achieve
More informationLecture 7:Examples using compensators
Lecture :Examples using compensators Venkata Sonti Department of Mechanical Engineering Indian Institute of Science Bangalore, India, This draft: March, 8 Example :Spring Mass Damper with step input Consider
More informationCHAPTER 4 PID CONTROLLER BASED SPEED CONTROL OF THREE PHASE INDUCTION MOTOR
36 CHAPTER 4 PID CONTROLLER BASED SPEED CONTROL OF THREE PHASE INDUCTION MOTOR 4.1 INTRODUCTION Now a day, a number of different controllers are used in the industry and in many other fields. In a quite
More informationReadings: FC: p : lead compensation. 9/9/2011 Classical Control 1
MM0 Frequency Response Design Readings: FC: p389-407: lead compensation 9/9/20 Classical Control What Have We Talked about in MM9? Control design based on Bode plot Stability margins (Gain margin and phase
More informationRotary Motion Servo Plant: SRV02. Rotary Experiment #03: Speed Control. SRV02 Speed Control using QuaRC. Student Manual
Rotary Motion Servo Plant: SRV02 Rotary Experiment #03: Speed Control SRV02 Speed Control using QuaRC Student Manual Table of Contents 1. INTRODUCTION...1 2. PREREQUISITES...1 3. OVERVIEW OF FILES...2
More informationModeling of Electro Mechanical Actuator with Inner Loop controller
Modeling of Electro Mechanical Actuator with Inner Loop controller Patchigalla Vinay 1, P Mallikarjuna Rao 2 1PG scholar, Dept.of EEE, Andhra Universit(A),Visakhapatnam,India 2Professor, Dept.of EEE, Andhra
More informationLoad Observer and Tuning Basics
Load Observer and Tuning Basics Feature Use & Benefits Mark Zessin Motion Solution Architect Rockwell Automation PUBLIC INFORMATION Rev 5058-CO900E Questions Addressed Why is Motion System Tuning Necessary?
More informationMicroelectronic Circuits II. Ch 9 : Feedback
Microelectronic Circuits II Ch 9 : Feedback 9.9 Determining the Loop Gain 9.0 The Stability problem 9. Effect on Feedback on the Amplifier Poles 9.2 Stability study using Bode plots 9.3 Frequency Compensation
More informationPERSONALIZED EXPERIMENTATION IN CLASSICAL CONTROLS WITH MATLAB REAL TIME WINDOWS TARGET AND PORTABLE AEROPENDULUM KIT
Eniko T. Enikov, University of Arizona Estelle Eke, California State University Sacramento PERSONALIZED EXPERIMENTATION IN CLASSICAL CONTROLS WITH MATLAB REAL TIME WINDOWS TARGET AND PORTABLE AEROPENDULUM
More informationLoop Design. Chapter Introduction
Chapter 8 Loop Design 8.1 Introduction This is the first Chapter that deals with design and we will therefore start by some general aspects on design of engineering systems. Design is complicated because
More informationME 375 System Modeling and Analysis
ME 375 System Modeling and Analysis G(s) H(s) Section 9 Block Diagrams and Feedback Control Spring 2009 School of Mechanical Engineering Douglas E. Adams Associate Professor 9.1 Key Points to Remember
More informationVer. 4/5/2002, 1:11 PM 1
Mechatronics II Laboratory Exercise 6 PID Design The purpose of this exercise is to study the effects of a PID controller on a motor-load system. Although not a second-order system, a PID controlled motor-load
More informationA Searching Analyses for Best PID Tuning Method for CNC Servo Drive
International Journal of Science and Engineering Investigations vol. 7, issue 76, May 2018 ISSN: 2251-8843 A Searching Analyses for Best PID Tuning Method for CNC Servo Drive Ferit Idrizi FMI-UP Prishtine,
More informationTesting Power Sources for Stability
Keywords Venable, frequency response analyzer, oscillator, power source, stability testing, feedback loop, error amplifier compensation, impedance, output voltage, transfer function, gain crossover, bode
More informationCOMPARISON OF TUNING METHODS OF PID CONTROLLER USING VARIOUS TUNING TECHNIQUES WITH GENETIC ALGORITHM
JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY Journal of Electrical Engineering & Technology (JEET) (JEET) ISSN 2347-422X (Print), ISSN JEET I A E M E ISSN 2347-422X (Print) ISSN 2347-4238 (Online) Volume
More informationof harmonic cancellation algorithms The internal model principle enable precision motion control Dynamic control
Dynamic control Harmonic cancellation algorithms enable precision motion control The internal model principle is a 30-years-young idea that serves as the basis for a myriad of modern motion control approaches.
More informationCDS 101/110: Lecture 8.2 PID Control
CDS 11/11: Lecture 8.2 PID Control November 16, 216 Goals: Nyquist Example Introduce and review PID control. Show how to use loop shaping using PID to achieve a performance specification Discuss the use
More information1. Consider the closed loop system shown in the figure below. Select the appropriate option to implement the system shown in dotted lines using
1. Consider the closed loop system shown in the figure below. Select the appropriate option to implement the system shown in dotted lines using op-amps a. b. c. d. Solution: b) Explanation: The dotted
More informationDesign of Compensator for Dynamical System
Design of Compensator for Dynamical System Ms.Saroja S. Chavan PimpriChinchwad College of Engineering, Pune Prof. A. B. Patil PimpriChinchwad College of Engineering, Pune ABSTRACT New applications of dynamical
More informationScalar control synthesis 1
Lecture 4 Scalar control synthesis The lectures reviews the main aspects in synthesis of scalar feedback systems. Another name for such systems is single-input-single-output(siso) systems. The specifications
More informationPerformance Optimization Using Slotless Motors and PWM Drives
Motion Control Performance Optimization Using Slotless Motors and PWM Drives TN-93 REV 1781 Section 1: Abstract Smooth motion, meaning very low position and current loop error while at speed, is critical
More informationModule 08 Controller Designs: Compensators and PIDs
Module 08 Controller Designs: Compensators and PIDs Ahmad F. Taha EE 3413: Analysis and Desgin of Control Systems Email: ahmad.taha@utsa.edu Webpage: http://engineering.utsa.edu/ taha March 31, 2016 Ahmad
More informationRECOMMENDATION ITU-R P Attenuation by atmospheric gases
Rec. ITU-R P.676-6 1 RECOMMENDATION ITU-R P.676-6 Attenuation by atmospheric gases (Question ITU-R 01/3) (1990-199-1995-1997-1999-001-005) The ITU Radiocommunication Assembly, considering a) the necessity
More informationA Comparative Study on Speed Control of D.C. Motor using Intelligence Techniques
International Journal of Electronic and Electrical Engineering. ISSN 0974-2174, Volume 7, Number 4 (2014), pp. 431-436 International Research Publication House http://www.irphouse.com A Comparative Study
More informationChapter 5 Frequency-domain design
Chapter 5 Frequency-domain design Control Automático 3º Curso. Ing. Industrial Escuela Técnica Superior de Ingenieros Universidad de Sevilla Outline of the presentation Introduction. Time response analysis
More informationT.J.Moir AUT University Auckland. The Ph ase Lock ed Loop.
T.J.Moir AUT University Auckland The Ph ase Lock ed Loop. 1.Introduction The Phase-Locked Loop (PLL) is one of the most commonly used integrated circuits (ICs) in use in modern communications systems.
More informationImplementation and Simulation of Digital Control Compensators from Continuous Compensators Using MATLAB Software
Implementation and Simulation of Digital Control Compensators from Continuous Compensators Using MATLAB Software MAHMOUD M. EL -FANDI Electrical and Electronic Dept. University of Tripoli/Libya m_elfandi@hotmail.com
More informationLiterature Review for Shunt Active Power Filters
Chapter 2 Literature Review for Shunt Active Power Filters In this chapter, the in depth and extensive literature review of all the aspects related to current error space phasor based hysteresis controller
More informationStep vs. Servo Selecting the Best
Step vs. Servo Selecting the Best Dan Jones Over the many years, there have been many technical papers and articles about which motor is the best. The short and sweet answer is let s talk about the application.
More informationPaul Schafbuch. Senior Research Engineer Fisher Controls International, Inc.
Paul Schafbuch Senior Research Engineer Fisher Controls International, Inc. Introduction Achieving optimal control system performance keys on selecting or specifying the proper flow characteristic. Therefore,
More informationDesign and Implementation of the Control System for a 2 khz Rotary Fast Tool Servo
Design and Implementation of the Control System for a 2 khz Rotary Fast Tool Servo Richard C. Montesanti a,b, David L. Trumper b a Lawrence Livermore National Laboratory, Livermore, CA b Massachusetts
More informationDr Ian R. Manchester Dr Ian R. Manchester Amme 3500 : Root Locus Design
Week Content Notes 1 Introduction 2 Frequency Domain Modelling 3 Transient Performance and the s-plane 4 Block Diagrams 5 Feedback System Characteristics Assign 1 Due 6 Root Locus 7 Root Locus 2 Assign
More informationR. W. Erickson. Department of Electrical, Computer, and Energy Engineering University of Colorado, Boulder
R. W. Erickson Department o Electrical, Computer, and Energy Engineering University o Colorado, Boulder Computation ohase! T 60 db 40 db 20 db 0 db 20 db 40 db T T 1 Crossover requency c 1 Hz 10 Hz 100
More informationKINGS COLLEGE OF ENGINEERING DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING QUESTION BANK UNIT - I SYSTEMS AND THEIR REPRESENTATION
KINGS COLLEGE OF ENGINEERING DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING QUESTION BANK NAME OF THE SUBJECT: EE 2253 CONTROL SYSTEMS YEAR / SEM: II / IV UNIT I SYSTEMS AND THEIR REPRESENTATION
More informationDESIGN AND ANALYSIS OF FEEDBACK CONTROLLERS FOR A DC BUCK-BOOST CONVERTER
DESIGN AND ANALYSIS OF FEEDBACK CONTROLLERS FOR A DC BUCK-BOOST CONVERTER Murdoch University: The Murdoch School of Engineering & Information Technology Author: Jason Chan Supervisors: Martina Calais &
More informationME 5281 Fall Homework 8 Due: Wed. Nov. 4th; start of class.
ME 5281 Fall 215 Homework 8 Due: Wed. Nov. 4th; start of class. Reading: Chapter 1 Part A: Warm Up Problems w/ Solutions (graded 4%): A.1 Non-Minimum Phase Consider the following variations of a system:
More informationEES42042 Fundamental of Control Systems Bode Plots
EES42042 Fundamental of Control Systems Bode Plots DR. Ir. Wahidin Wahab M.Sc. Ir. Aries Subiantoro M.Sc. 2 Bode Plots Plot of db Gain and phase vs frequency It is assumed you know how to construct Bode
More informationMotor Control. Suppose we wish to use a microprocessor to control a motor - (or to control the load attached to the motor!) Power supply.
Motor Control Suppose we wish to use a microprocessor to control a motor - (or to control the load attached to the motor!) Operator Input CPU digital? D/A, PWM analog voltage Power supply Amplifier linear,
More informationIMPLEMENTING PID COMPENSATION George Younkin, P.E., MSEE
IMPLEMENTING PID COMPENSATION George Younkin, P.E., MSEE Modern commercial servo drives use digital algorithms to implement PID type compensation. This is not recommended practice for individual designers
More informationOperational Amplifiers
Operational Amplifiers Table of contents 1. Design 1.1. The Differential Amplifier 1.2. Level Shifter 1.3. Power Amplifier 2. Characteristics 3. The Opamp without NFB 4. Linear Amplifiers 4.1. The Non-Inverting
More information9 Feedback and Control
9 Feedback and Control Due date: Tuesday, October 20 (midnight) Reading: none An important application of analog electronics, particularly in physics research, is the servomechanical control system. Here
More informationPositive Feedback and Oscillators
Physics 3330 Experiment #5 Fall 2011 Positive Feedback and Oscillators Purpose In this experiment we will study how spontaneous oscillations may be caused by positive feedback. You will construct an active
More informationEngineering Reference
Engineering Reference Linear & Rotary Positioning Stages Table of Contents 1. Linear Positioning Stages...269 1.1 Precision Linear Angular Dynamic 1.2 Loading Accuracy Repeatability Resolution Straightness
More informationElectrical Engineering. Control Systems. Comprehensive Theory with Solved Examples and Practice Questions. Publications
Electrical Engineering Control Systems Comprehensive Theory with Solved Examples and Practice Questions Publications Publications MADE EASY Publications Corporate Office: 44-A/4, Kalu Sarai (Near Hauz
More informationLINEAR MODELING OF A SELF-OSCILLATING PWM CONTROL LOOP
Carl Sawtell June 2012 LINEAR MODELING OF A SELF-OSCILLATING PWM CONTROL LOOP There are well established methods of creating linearized versions of PWM control loops to analyze stability and to create
More informationDorf, R.C., Wan, Z. Transfer Functions of Filters The Electrical Engineering Handbook Ed. Richard C. Dorf Boca Raton: CRC Press LLC, 2000
Dorf, R.C., Wan, Z. Transfer Functions of Filters The Electrical Engineering Handbook Ed. Richard C. Dorf oca Raton: CRC Press LLC, Transfer Functions of Filters Richard C. Dorf University of California,
More informationLecture 18 Stability of Feedback Control Systems
16.002 Lecture 18 Stability of Feedback Control Systems May 9, 2008 Today s Topics Stabilizing an unstable system Stability evaluation using frequency responses Take Away Feedback systems stability can
More informationPeak Current Mode Control Stability Analysis & Design. George Kaminski Senior System Application Engineer September 28, 2018
Peak Current Mode Control Stability Analysis & Design George Kaminski Senior System Application Engineer September 28, 208 Agenda 2 3 4 5 6 7 8 Goals & Scope Peak Current Mode Control (Peak CMC) Modeling
More informationSECTION 6: ROOT LOCUS DESIGN
SECTION 6: ROOT LOCUS DESIGN MAE 4421 Control of Aerospace & Mechanical Systems 2 Introduction Introduction 3 Consider the following unity feedback system 3 433 Assume A proportional controller Design
More informationPURPOSE: NOTE: Be sure to record ALL results in your laboratory notebook.
EE4902 Lab 9 CMOS OP-AMP PURPOSE: The purpose of this lab is to measure the closed-loop performance of an op-amp designed from individual MOSFETs. This op-amp, shown in Fig. 9-1, combines all of the major
More informationTCS3 SERVO SYSTEM: Proposed Design
UNIVERSITY OF HAWAII INSTITUTE FOR ASTRONOMY 2680 Woodlawn Dr. Honolulu, HI 96822 NASA Infrared Telescope Facility TCS3 SERVO SYSTEM: Proposed Design.......... Fred Keske June 7, 2004 Version 1.2 1 INTRODUCTION...
More informationShaft Torque Excitation Control for Drivetrain Bench
Power Electronics Technology Shaft Excitation Control for Drivetrain Bench Takao Akiyama, Kazuhiro Ogawa, Yoshimasa Sawada Keywords Drivetrain bench,, Excitation Abstract We developed a technology for
More informationChapter 10: Compensation of Power Transmission Systems
Chapter 10: Compensation of Power Transmission Systems Introduction The two major problems that the modern power systems are facing are voltage and angle stabilities. There are various approaches to overcome
More information