0195136047.pdf

794 BASIC CONTROL SYSTEMS amplifier is so designed that it provides an output signal containing a term proportional to the deriv ...

16.2 FEEDBACK CONTROL SYSTEMS 795 Amplifier Tachometer generator Output rate − Potentiometer Servomotor −Et Js^2 + Fs REK^1 C p ...

796 BASIC CONTROL SYSTEMS Potentiometer Servoamplifier Servomotor − Js^2 + Fs REK^1 C p Ka +Ksi Km Ea Td Figure 16.2.14Block dia ...

16.2 FEEDBACK CONTROL SYSTEMS 797 − − − + + − + − + Ra(1 + τas) 1 B(1 + τms) Vt(s) Te(s)+ 1 (b) (a) Ωm(s) Σ TL(s) ea vt vf if Lf ...

798 BASIC CONTROL SYSTEMS wherevtis the terminal voltage applied to the motor,eais the back emf given by Equation (2),Ra andLain ...

16.2 FEEDBACK CONTROL SYSTEMS 799 and a common voltageea. An analog electric circuit can then be drawn as in Figure E16.2.1(d) f ...

800 BASIC CONTROL SYSTEMS excited dc motor. A simplified schematic diagram of such a system is shown in Figure E16.2.3(a), in wh ...

16.2 FEEDBACK CONTROL SYSTEMS 801 for the constant field current, withKma constant, and Td=Kmia=Bmωo+Jm dωo dt (3) neglecting lo ...

802 BASIC CONTROL SYSTEMS c(t)= 17 3 − 17 2 e−^2 t+ 17 6 e−^6 t (4) (b) The differential equation describing the closed-loop sys ...

16.2 FEEDBACK CONTROL SYSTEMS 803 or C(s) R(s) = 68 s^2 + 8 s+ 80 (13) Noting that the denominator of Equation (13) is the same ...

804 BASIC CONTROL SYSTEMS are s 1 , 2 =− F 2 J ± √( F 2 J ) 2 − K J The system is: (i) Overdamped if ( F 2 J ) 2 > K J (ii) U ...

16.3 DIGITAL CONTROL SYSTEMS 805 (d) Sinceξ=F/ 2 √ KJ, it follows that ξ′= ξ √ 4. 44 = 0. 4746 ξ= 0. 4746 × 0. 222 = 0. 105 corr ...

806 BASIC CONTROL SYSTEMS (a) (b) (c) − + Sampler Input r(t) Error signal e(t) e(t) Data hold (filter) Discrete data e*(t) e*(t) ...

16.3 DIGITAL CONTROL SYSTEMS 807 No drift Less effect due to noise and disturbance. Many physical systems have inherent sampli ...

808 BASIC CONTROL SYSTEMS device simply holds the value of the signal until the next sample comes along. Two samplers with two d ...

16.3 DIGITAL CONTROL SYSTEMS 809 − Prefilter s − Rate gyro A/D converter Positiontransducer Positioncommand (a) θ Positi ...

810 BASIC CONTROL SYSTEMS Minicomputer Generator Outputvariables Codedcommand D/A converter Steamturbine Valve D/A converter Ele ...

16.3 DIGITAL CONTROL SYSTEMS 811 Memory and instructions Computer Digital processor Drill-motor drive Drilling operation Drill p ...

812 BASIC CONTROL SYSTEMS in which the chip itself is programmed to perform specific functions. Digital watches and auto fuel-in ...

16.3 DIGITAL CONTROL SYSTEMS 813 ω(kT) and then compute the next value of control,u[(k+1)T]. After calculation of the control, t ...