The block diagram of a positioning servomechanism is shown in Fig. 5.71. (a) Sketch the
Chapter 5, Problem 5.44(choose chapter or problem)
The block diagram of a positioning servomechanism is shown in Fig. 5.71. (a) Sketch the root locus with respect to K when no tachometer feedback is present (KT = 0). (b) Indicate the root locations corresponding to K = 16 on the locus of part (a). For these locations, estimate the transient-response parameters tr , Mp , and ts . Compare your estimates to measurements obtained using the step command in MATLAB. (c) For K = 16, draw the root locus with respect to KT . (d) For K = 16 and with KT set so that Mp = 0.05 ( = 0.707), estimate tr and ts . Compare your estimates to the actual values of tr and ts obtained using MATLAB. (e) For the values of K and KT in part (d), what is the velocity constant Kv of this system? Figure 5.71 Control system for 5.44
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