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    Cede Diez Ocho

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    spawn1984
    Calculate the gains GI and G of the control law in (4) by using the pole placement technique. Once gains GI and G are obtained, calculate gain Nx by employing a steady state analysis.

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    Cede Diez Ocho

    Uploaded by

    spawn1984
    17 views2 pages
    Calculate the gains GI and G of the control law in (4) by using the pole placement technique. Once gains GI and G are obtained, calculate gain Nx by employing a steady state analysis.

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    © © All Rights Reserved

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    Calculate the gains GI and G of the control law in (4) by using the pole placement technique. Once gains GI and G are obtained, calculate gain Nx by employing a steady state analysis.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    17 views2 pages

    Cede Diez Ocho

    Uploaded by

    spawn1984
    Calculate the gains GI and G of the control law in (4) by using the pole placement technique. Once gains GI and G are obtained, calculate gain Nx by employing a steady state analysis.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
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    ELECTRICAL MACHINES

    Professor: Ruben Salas-Cabrera


    Consider the following n-dimensional linear time-invariant dynamic system
    x(t)

    = Ax(t) + Bu(t)
    y(t) = Cx(t)

    (1)

    An integral action may be defined as

    xI (t) = e(t)dt = [y(t) r]dt


    where r is the set point for the output to be controlled. By differentiating the above
    expression we obtain
    x I (t) = y(t) r
    (2)
    In general, the augmented system composed by the state equation of the system to be
    controlled (1) and the state equation of the integral controller (2) can be rewritten as
    [ ]
    ] [ ]
    ][
    ] [
    [
    d xI (t)
    1
    0
    0 C xI (t)
    r
    (3)
    u(t)
    +
    =
    0
    B
    0 A x(t)
    dt x(t)
    The control law is defined by the following expression
    [
    ]
    [
    ] xI (t)
    u(t) = GI G
    + GNx r
    x(t)

    (4)

    Calculate the gains GI and G of the control law in (4) by using the pole placement
    technique. Once gains GI and G are obtained, calculate gain Nx by employing a steady
    state analysis. The model to be controlled is the one that is derived in the previous
    homework (see file cede diez seis.tex ). It is a reduced order model that describes the
    behaviour of a shunt-connected DC motor. It is a first order system. The only state
    variable is the rotor speed x(t) = r (t). The only output variable is the rotor speed
    y(t) = r (t). The only input of the system is the armature voltage (field voltage), i.e.
    u(t) = va = vf . It is defined by the above control law, see (4). Select the closed loop
    poles as a complex conjugate pole pair, therefore an oscillating transient response is
    expected. The purpose for selecting these type of poles is to highlight the significant
    capabilities of the controller. An overdamped type of behaviour was in place during the
    open loop operation. An underdamped type of behaviour appears when the controller
    is involved.
    1

    You must submit a hardcopy of the transient behaviour for both state variables
    (xI (t), x(t)). A numerical method should be used for solving both differential equations
    in expression (3) when the controller defined in (4) is included. The initial conditions
    [
    ]T [
    ]T
    are xI (0) x(0) = 0 0 .
    Another hardcopy should be submitted: the transient of the armature voltage as the
    output reaches its reference, recall that u(t) = va = vf . The printed and electronic matlab
    file must be handed in.
    cede diez ocho.tex, ??.m ;

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