Elements Of Electromagnetics
Elements Of Electromagnetics
7th Edition
ISBN: 9780190698614
Author: Sadiku, Matthew N. O.
Publisher: Oxford University Press
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In a cruise controller the throttle of a car is controlled by a servomechanism with the
aim of keeping the vehicle moving at a velocity set by the driver. We model the system with the
differential equation
mi u bv
where u is the velocity of the car, m = 1500 kg is the mass of the car and b = 100 Ns/m is the friction
coefficient (mainly due to air resistance). We want to design a PI-controller for the cruise controller.
a) Find the transfer function from reference, r, to output velocity when u = kp(r − v) + kï ſ (r — v).
b) Approximate your transfer function in a) by the second order system H(s) = ao/(s² + b₁s + b2),
with ao, b₁ and b2 constant. Choose parameters (kp, ki) for the PI-controller to get an overshoot
of 10% and a rise time of 2 s.
c) What is the relation between the rise time and overshoot of the system in a) and the simplified
second order model assumed in b)? (Are they smaller or larger? Motivate.)
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Transcribed Image Text:In a cruise controller the throttle of a car is controlled by a servomechanism with the aim of keeping the vehicle moving at a velocity set by the driver. We model the system with the differential equation mi u bv where u is the velocity of the car, m = 1500 kg is the mass of the car and b = 100 Ns/m is the friction coefficient (mainly due to air resistance). We want to design a PI-controller for the cruise controller. a) Find the transfer function from reference, r, to output velocity when u = kp(r − v) + kï ſ (r — v). b) Approximate your transfer function in a) by the second order system H(s) = ao/(s² + b₁s + b2), with ao, b₁ and b2 constant. Choose parameters (kp, ki) for the PI-controller to get an overshoot of 10% and a rise time of 2 s. c) What is the relation between the rise time and overshoot of the system in a) and the simplified second order model assumed in b)? (Are they smaller or larger? Motivate.)
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