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H62SPCChapter5SingleLoopFeedbackSystemandRootsoftheCharacteristicEquationTransferFunctionConvenientrepresentationofalinear,dynamicmodel.Atransferfunction(TF)relatesoneinputandoneoutput:Thefollowingterminologyisused:xinputforcingfunction“cause”youtputresponse“effect”InverseLaplaceTransform
Thefollowingtransformallowsustomovebackintothetimedomaintisaconstantforthepurposeofintegration‘s’isacomplexvariableandthereforemakestheintegrationprocesscomplicated-ajobformathematicians!Fortunately,itispossibletousetablesofinverseLaplacetransformstoconvertbackintothetimedomainwithouthavingtocomputethecomplexintegrals.Thisisthemethodthatweuse.LaplaceTransformtablesPartialFractions:Revision
Findthetransformfunctionh(t)/H(s)Steps:KeepallresistancesRthesameReplaceallvoltagesv(t)
byV(s)Replaceallcurrentsi(t)byI(s)ReplaceallinductancesLbysL
ReplaceallcapacitorsCby1/sC
ApplyKirchhoff’sLawstodetermine fromwhichthefrequencyresponse,amplitudeand phaseresponsescanbeobtained.Kirchoff’sCurrentLawsConsidertheKCLintimedomain:ApplytheLaplacetransform:Kirchoff’sVoltageLawsConsidertheKVLintimedomain:ApplytheLaplacetransform:BasicSingleLoopFeedbackSystemG(s)–Forwardpathtransferfunction;
H(s)–FeedbackpathtransferfunctionC(s)–ControlledoutputsignalR(s)–ReferenceinputsignalE(s)–ActuatingerrorsignalC(s)R(s)G(s)+-H(s)E(s)ClosedLoopTransferFunctionC(s)R(s)G(s)+-H(s)E(s)
ClosedloopTransferFunction(CLTF)Feedback:PositiveandNegativePositiveFeedbackSystemsMorebegetsmoreLessbegetsless.Examples?NegativeFeedbackSystemsMorebegetslessLessbegetsmore.Examples?TransferFunctionC(s)R(s)G(s)+-H(s)
Frombefore:Thebelowequationisastheclosed-looptransferfunctionofthissystem(CLTF):UnityFeedbackControlSystemC(s)R(s)G(s)+-E(s)G(s)–Forwardpathtransferfunction; Open-looptransferfunction C(s)–ControlledoutputsignalR(s)–ReferenceinputsignalE(s)–ActuatingerrorsignalWhatisitsCLTF???????CharacteristicEquationofatransferfunctionC(s)R(s)G(s)+-H(s)
Frombefore:Thecharacteristicequationofalinearsystemisobtainedbyequatingthedenominatorpolynomialofthetransferfunctiontozero,thusthecharacteristicequationofthissystemis:
Therootsofthisequationdeterminetheresponseofthesystemtochangesinthereference,R(s)TheserootsareZEROS!1stand2ndsystem:TransferfunctionandcharacteristicEquationWriteoutthetransferfunctionandcharacteristicequationsforbothcircuits!ResponsetochangesininputtimeVoltage10VOnetypeofresponse(2ndOrder)Anothertypeofresponse(1stOrder)Referencevalue:Responsetoastepchangeininput,R(s):TheshapeofthisresponseisdeterminedbyfindingtherootsoftheCharacteristicEquationExampleIC(s)R(s)
Oursystem:OurInput:Astepinputof10unitstime10
Provethisyourself!
OurOutput:InputTransferFunction
Solvingtheseweget:A=10,B=-10,C=-20 [Proveyourself!]
NowweneedtomanipulatethisabitsothatwecanuseInverseLaplaceTransformTables
ThisoneiseasyThisoneneedsabitofworkExampleII
ExampleIII
1
FromInverseLaplaceTransformTablesComparingthesolutionwiththeCharacteristicEquation
Ourcharacteristicequationwas:
C(s)R(s)
Notethatc(t)hastheexponentialdecayrateequaltotherealpartoftheroots(-1),andthattheoscillatorypartc(t)hasafrequencyequaltothecomplexpartoftheroots(2π/2=π)ThisiswhythedenominatorofthetransferfunctioniscalledtheCharacteristicEquation
-Therootsofitdeterminetheshapeofthesystemresponse.RealandComplexRootsofthecharacteristicequationRealRootsoftheC.E
Thisgivesrisetoanexponentialdecaycomponentinthetimedomain.i.e.K=Constant
=DecayrateKf(t)timeComplexRoots
Thisgivesrisetoatransientterminthetimedomainofthetype:
Hence,forapairofcomplexroots,definedbys2+as+b=0,thedecayrateandthedampedfrequencycanbefoundby:
BOTH
anddeterminetheresponseofthesystemResponseExamplesttttSame,differentSame,differentComplexRoots:Relationships
Ifwecomparethesetwoforms:
Comparingthecoefficients:
ComplexRoots:RelationshipsII
ProveYourself!Example:Second-orderCircuit
InitialConditions
Zero-inputResponsetocharacteristicequation
Rootsofthesecond-ordersystem
PracticalCases:
CaseA:tworeal,unequalroots
CaseB:tworeal,equalrootsCaseA:IF(????)2?4????=0,tworeal,equalroots(??1=??2=???)R=4Kohm??1=??2=?2000Correspondingly,thetime-domainsolutionshouldbe:??????=??1???2000??+??2?????2000??;??≥0Takingtheinitialconditionsintotheconsideration:????0=15=??1??????(0)????=??0??
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