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- *** FEEDBACK ***
- In the feedback program the output of the system is fed back to the
- input. The program asks for various adjustments.
- Kc is the controller gain, which may be adjusted to any value; the
- default value is 1. Kfb is the measurement gain; the default value
- is also 1. Kh is the gain of the feedback path; its default value
- is 1. If you choose another value, the forward gain is adjusted
- reciprocally so that the loop gain remains the same. Poles and
- zeros may be relocated from the forward path to the feedback path.
- In this way you can relocate the complete proces. Then the system
- output is the controller output.
-
- Warning
- ───────
- The gain category, K or Kpz, which you have opted for,
- influences the static gain of the feedback system.
-
- If the option was K, relocation of poles and zeros relocates
- s s
- the factors (1 - ─) and (1 - ─) respectively. This does not
- p z
- change the static gain of the feedback system.
-
- If the option was Kpz, relocation of poles and zeros relocates
- the factors
- s s
- (s - p) = -p(1 - ─) and (s - z) = -z(1 - ─) respectively.
- p z
- This changes the static gain of the feedback system.
-
- With relocation of poles and zeros in a discrete system the
- controller gain and the gain in the feedback path are corrected
- so that the static gain (z = 1) of the controlled system
- remains the same.
-
- After acknowledgement the feedback system becomes the new active
- system. The old open system is written to the scratch pad.
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