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1/58 2000, John Wiley

Chapter ! "ime #esponse$

Chapter

"ime #esponse



Chapter ! "ime #esponse2

Figure 4.1

a.System showinginput and output;

b.pole-zero plot

of the system;

c.evolution of asystem response.

Follow blue arrows

to see the evolution

of the response

component generatedby the pole or zero.




Figure 4.2

Effect of areal-axis

pole upon

transientresponse



Chapter ! "ime #esponse

Figure 4.3

System forExample

4.



Chapter ! "ime #esponse%

Figure 4.4

a.First-ordersystem;

b.pole plot




Figure 4.5First-order

system

responseto a unit

step



Chapter ! "ime #esponse'

Figure 4.6

!aboratoryresults

of a system

step

response

test



Chapter ! "ime #esponse(

Figure 4.7

Second-order

systems" pole

plots"

and stepresponses


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Chapter ! "ime #esponse)

Figure 4.8Second-order

step response

components

generated by

complex poles


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Chapter ! "ime #esponse$0

Figure 4.9

System for

Example

4.#


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Chapter ! "ime #esponse$$

Figure 4.10Step

responses

for second-

order

system

damping

cases


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Figure

4.11Second-

order

responseas a

function of

damping

ratio


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Figure 4.12

Systems for

Example 4.4


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Figure 4.13

Second-order

underdamped

responses for

damping ratiovalues


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Chapter ! "ime #esponse$%

Figure 4.14Second-order

underdamped

response

specifications


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Figure 4.15$ercent

overshoot vs.

damping ratio


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Chapter ! "ime #esponse$'

Figure 4.16

%ormalized rise

time vs.

damping

ratio for asecond-order

underdamped

response


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Chapter ! "ime #esponse$(

Figure 4.17

$ole plot for

an

underdamped

second-ordersystem


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Chapter ! "ime #esponse$)

Figure 4.18

!ines of constantpea& time"'p "

settling

time"'s" and

percent

overshoot" ()S

%ote* 's#

+ 's

;

'p#+ 'p; ()S +

()S#


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Figure 4.19

Step responsesof second-order

underdamped

systems

as poles move*a.with constant

real part;

b.with constant

imaginary part;c.with constant

damping ratio


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Chapter ! "ime #esponse2$

Figure 4.20

$ole plot for

Example 4.,


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Figure 4.21

otationalmechanical

system for

Example 4.


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Figure 4.22

'he /ybermotionS0 security robot

on patrol. 'he

robot navigates by

ultrasound and path

programs transmittedfrom a computer"

eliminating the need

for guide strips on

the floor. 1t has video

capabilities as well as

temperature" humidity"

fire" intrusion" and gas

sensors.

/ourtesy of /ybermotion" 1nc.


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Figure 4.23/omponent

responses of a

three-pole system*

a.pole plot;

b.component

responses*nondominant pole

is near

dominant second-

order pair 2/ase 13"far from the pair

2/ase 113" and

at infinity 2/ase 1113


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Chapter ! "ime #esponse2%

Figure 4.24Step responses

of system '2s3"

system '#

2s3"

and

system '02s3


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Figure 4.25

Effect ofadding

a zero to a

two-polesystem


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Chapter ! "ime #esponse2'

Figure 4.26

Step response

of a

nonminimum-

phase system


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Chapter ! "ime #esponse2(

Figure 4.27

%onminimum-phase

electrical circuit


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Chapter ! "ime #esponse2)

Figure 4.28

Step responseof the

nonminimum-phase

networ& of Figure

4.# 2c2t33 andnormalized step

response of an

euivalent networ&

without the zero

2-5co2t33


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Figure 4.29

a.Effect ofamplifier

saturation on

load angularvelocity

response;

b.Simulin& bloc&

diagram


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Chapter ! "ime #esponse3$

Figure 4.30

a.Effect ofdeadzone on

load angular

displacementresponse;

b.Simulin& bloc&

diagram


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Figure 4.31

a.Effect ofbac&lash

on load angular

displacementresponse;

b.Simulin& bloc&

diagram

33


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Figure 4.32

6ntennaazimuth

position control

system forangular

velocity*

a.forward path;

b.euivalent

forward path

3


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Figure 4.33

7nmanned

Free-

Swimming

Submersible

27FSS3

vehicle /ourtesy of %aval esearch !aboratory.

3%


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Chapter ! "ime #esponse3%

Figure 4.34

$itch control loop forthe 7FSS vehicle

3


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Figure 4.35%egative step

response of

pitch control for7FSS vehicle

3'


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Chapter ! "ime #esponse3'

Figure 4.36

6 ship at sea"showing roll

axis

3(


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Chapter ! "ime #esponse3(

Figure P4.1

3)


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Chapter ! "ime #esponse3)

Figure P4.2

0


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Figure P4.3

$


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Figure P4.4

2


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Figure P4.5

3


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Figure P4.6

Ch "i #


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Figure P4.7

Ch "i #%


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Figure P4.8

Ch t "i #


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Figure P4.9

2figurecontinues3

Ch t "i #'


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Chapter ! "ime #esponse'

Figure P4.9

2continued3

Ch t "i #(


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Chapter ! "ime #esponse(

Figure P4.10Steps in determining

the transfer functionrelating output physical

response to the input

visual command

Ch t "i #)


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Chapter ! "ime #esponse)

Figure P4.118acuum

robot lifts

two bags ofsalt

/ourtesy of $acific obotics" 1nc.

Chapter ! "ime #esponse%0


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Figure P4.12

Chapter ! "ime #esponse%$


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Figure P4.13



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Figure P4.14



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Figure P4.15



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Figure P4.16

Chapter ! "ime #esponse%%


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Figure P4.17



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Figure P4.18

Chapter ! "ime #esponse%'


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Figure P4.19

Chapter ! "ime #esponse%(


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Figure P4.20

$ump diagram

9 ::, 6SE.

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