Question

In addition to the transient response charactcristics considered above, we are often interested in tho steady-state response of the system to a step reference input R(s) and constant disturbance input Ta(s) the disturbance input is used to model the friction in the motor. Pre-Lab Question 8 (3 marks) Show thal total oulput respose to the reference and disturbance inpuls n the Laplace domain is given by: (14) Tos Pre-Lab Question 9 (2 marks) What is the steady-state error in Tesponse to a step inptR(s) in the absence of disturbance, i.e, Ta(s)-0.

will leave positive reviews

previous questions

Answer 1

We have G (s) = A/s (S T_m + 1) and G_c (s) = k_p and H (s) = 1 when the Distance input is zero . The open loop Transfer function is G_open = A k_p/s (s T_m + 1) The closed loop transfer function is G_cl = G/1 + G H Because Y (s)/R (s) = A k_p/s (s T_m + 1)/1 + A k_p/s (s T_m + 1) times 1 = A k_p/s (s T_m + 1) + A k_p parallel when the input is zero i.e R (5) = 0 G = A/s (s T_m + 1) and H = k_p times 1 = k_p Therefore The closed loop Transfer function Y (s)/D (s) = A/s (s T_m + 1)/1 + A/s (s T_m + 1) times k_p = A/s (s T_m + 1) + A k_p from and \r\n Y (s) = A k_p/s^2 T_