Chapter 4: Time Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 4 Time Response

©2000, John Wiley & Sons, Inc.

Nise/Control Systems Engineering, 3/e

Chapter 4: Time Response1

Chapter 4

Time Response




Figure 4.1a. System showinginput and output;b. pole-zero plotof the system;c. evolution of asystem response.Follow blue arrowsto see the evolutionof the responsecomponent generatedby the pole or zero.




Figure 4.2Effect of a real-axispole upon transientresponse




Figure 4.3System forExample 4.1




Figure 4.4a. First-order system;b. pole plot




Figure 4.5First-order systemresponse to a unitstep




Figure 4.6Laboratory resultsof a system stepresponse test




Figure 4.7Second-ordersystems, pole plots,and stepresponses




Figure 4.8Second-orderstep response componentsgenerated bycomplex poles




Figure 4.9System forExample 4.2




Figure 4.10Step responsesfor second-ordersystemdamping cases




Figure 4.11Second-orderresponse as a function of damping ratio




Figure 4.12Systems forExample 4.4




Figure 4.13Second-orderunderdampedresponses fordamping ratio values




Figure 4.14Second-orderunderdampedresponsespecifications




Figure 4.15Percentovershoot vs.damping ratio




Figure 4.16Normalized risetime vs. dampingratio for asecond-orderunderdampedresponse




Figure 4.17Pole plot for anunderdamped second-ordersystem




Figure 4.18Lines of constantpeak time,Tp , settlingtime,Ts , and percentovershoot, %OSNote: Ts2

< Ts1 ;

Tp2 < Tp1

; %OS1 <

%OS2




Figure 4.19Step responsesof second-orderunderdamped systemsas poles move:a. with constant real part;b. with constant imaginary part;c. with constant damping ratio




Figure 4.20Pole plot forExample 4.6




Figure 4.21Rotationalmechanical system for Example 4.7




Figure 4.22The CybermotionSR3 security roboton patrol. Therobot navigates byultrasound and pathprograms transmittedfrom a computer,eliminating the needfor guide strips onthe floor. It has videocapabilities as well astemperature, humidity,fire, intrusion, and gas

sensors.

Courtesy of Cybermotion, Inc.




Figure 4.23Component responses of a three-pole system:a. pole plot;b. componentresponses: nondominant pole is neardominant second-order pair (Case I), far from the pair (Case II), andat infinity (Case III)




Figure 4.24Step responsesof system T1(s),system T2(s), andsystem T3(s)




Figure 4.25Effect of addinga zero to a two-pole system




Figure 4.26Step responseof anonminimum-phase system




Figure 4.27Nonminimum-phaseelectrical circuit




Figure 4.28Step response of the nonminimum-phasenetwork of Figure 4.27 (c(t)) and normalized step response of anequivalent networkwithout the zero(-10co(t))




Figure 4.29a. Effect of amplifiersaturation on load angular velocityresponse;b. Simulink blockdiagram




Figure 4.30a. Effect ofdeadzone onload angulardisplacementresponse;b. Simulink blockdiagram




Figure 4.31a. Effect of backlashon load angulardisplacementresponse;b. Simulink blockdiagram




Figure 4.32Antenna azimuthposition controlsystem for angularvelocity:a. forward path;b. equivalentforward path




Figure 4.33UnmannedFree-SwimmingSubmersible(UFSS) vehicle

Courtesy of Naval Research Laboratory.




Figure 4.34Pitch control loop forthe UFSS vehicle




Figure 4.35Negative stepresponse of pitch control for UFSS vehicle




Figure 4.36A ship at sea,showing roll axis




Figure P4.1




Figure P4.2




Figure P4.3




Figure P4.4




Figure P4.5




Figure P4.6




Figure P4.7




Figure P4.8




Figure P4.9(figure continues)




Figure P4.9 (continued)




Figure P4.10Steps in determiningthe transfer functionrelating output physicalresponse to the inputvisual command




Figure P4.11Vacuum robot liftstwo bags of salt

Courtesy of Pacific Robotics, Inc.




Figure P4.12




Figure P4.13




Figure P4.14




Figure P4.15




Figure P4.16




Figure P4.17




Figure P4.18




Figure P4.19




Figure P4.20Pump diagram

© 1996 ASME.

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Chapter 4: Time Response 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e Chapter 4 Time Response