- Question 7 13 A Controlled System Is Arranged According To The Block Diagram Below Where Gc S Is The Controller Gp S 1 (54.6 KiB) Viewed 17 times
- Question 7 13 A Controlled System Is Arranged According To The Block Diagram Below Where Gc S Is The Controller Gp S 2 (28.49 KiB) Viewed 17 times
- Question 7 13 A Controlled System Is Arranged According To The Block Diagram Below Where Gc S Is The Controller Gp S 3 (27.65 KiB) Viewed 17 times
Question 7: 13 A controlled system is arranged according to the block diagram below, where Gc(s) is the controller, Gp(s) the plant, R(s) the reference, and Y(s) the controlled variable. R(S) Y(s) Gc(s) The plant behaves according an IT1-system and the plant is controlled by a PT1- controller with the transfer function Ge(s): Kp s+1 W 0.5 1 2 3 10 For a controller gain Kp = 4 the magnitude response IG(jw) and the phase response (w) for the open-loop system have been calculated according to the table below. G(jw) 2.85 Gp(s) = 1.1 0.33 0.14 7.1e-3 φ(ω) -97⁰ -147° -175° -192° -237⁰ a) Draw the Nyquist-plot in the graph below, using the data points listed in the table.
E 14 2 Nyquist plot 0 Re b) Determine the phase (w) of the open-loop system for Kp = 20 and w = 10 rad
TE c) Determine the gain margin GM in dB for Kp = 4. d) Determine the phase margin M for Kp = 4. e) Determine the critical controller gain Kpcrit when the closed-loop system becomes marginally stable