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Unit 1 Example 3

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20 views

Unit 1 Example 3

Uploaded by

saiedali2005
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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System Modelling

Example 3: State Space Modelling


It is known that the closed-loop control for the DC servo motor system explained
earlier can be described by the following:
Transfer function of DC Motor: ( s ) = k m
Va ( s ) 1+ sTm
Definitions of state variables: x1 =  and x2 = x1 = 

Input to the DC motor: va = K  u where u = r − K1 x1 − K 2 x2

The state space model for the control system can be represented by
x = Ax + B  r
y = Cx + d  r
The input is r, and the output is θ. Determine A, B, C and d assuming
𝑘𝑚 𝐾
𝐾𝑇 =
𝑇𝑚
System Modelling
( s ) km 𝑘𝑚 𝐾
= x2 = x1 =  x1 =  u = r − K1 x1 − K 2 x2 va = K  u 𝐾𝑇 =
Va ( s ) 1+ sTm 𝑇𝑚

Ω + Ω𝑠𝑇𝑚 = 𝑘𝑚 𝑉𝑎 In time domain 𝜔 + 𝜔𝑇


ሶ 𝑚 = 𝑘𝑚 𝑣𝑎 = 𝐾𝑘𝑚 𝑢

So 𝑥2 + 𝑥2ሶ 𝑇𝑚 = 𝐾𝑘𝑚 (𝑟 − 𝐾1 𝑥1 − 𝐾2 𝑥2 )

𝐾𝑘𝑚 𝑥2
𝑥2ሶ = 𝑟 − 𝐾1 𝑥1 − 𝐾2 𝑥2 −
𝑇𝑚 𝑇𝑚

1
𝑥2ሶ = 𝐾𝑇 𝑟 − 𝐾𝑇 𝐾1 𝑥1 − 𝐾𝑇 𝐾2 + [𝑥2 ]
𝑇𝑚
System Modelling
x = Ax + B  r
y = Cx + d  r
1
𝑥2ሶ = 𝐾𝑇 𝑟 − 𝐾𝑇 𝐾1 𝑥1 − 𝐾𝑇 𝐾2 + [𝑥2 ]
𝑇𝑚
𝑥2 = 𝑥ሶ 1 = 𝜔
0 1
𝑥1ሶ 1 𝑥1 0
= −𝐾 𝐾 𝑥2 + 𝐾𝑇 𝑟
𝑥2ሶ 𝑇 1 − 𝐾𝑇 𝐾2 +
𝑇𝑚
𝑥1 = 𝜃 0 1
𝑥1 𝐀= 1
𝑦 = 𝑥1 = [1 0] 𝑥 −𝐾𝑇 𝐾1 − 𝐾𝑇 𝐾2 +
𝑇𝑚
2

0
𝐁= 𝐂 = [1 0] 𝑑 = 0
𝐾𝑇

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