" Input system data " Time response " Root loci " Frequency analysis " Close control-loop " System Matrix " Display of system - page overview" Options " Exit program return to DOS Alt+X " Poles and zeros " PoLynomials " Corner frequencies " Input from File " Append system " Input signal " Laplace - partial fractions " Time response - Expression " Time response - Table " Time response - Plot " Plot Options " Z-transform " Z-transform - partial fractions " Frequency response Table " Single frequency " Phase margin " Gain at phase Margin " Gain margin " Bode, polar and gain-phase plot " Plot Options " Gain-frequency plot (Bode) " Phase-frequency plot (Bode) " POlar plot " GAin-phase plot " Lowest frequency - rad/s " Highest frequency - rad/s " M - circle " N - circle " Unit-circle in polar plot " Bode plot instruction " Change main menu options " Breakaway points " Root locus - Table " Root locus - Plot " Root locus plot Options " Compensator design " Beginning of horizontal scale " End of horizontal scale " Step magnitude " Cursor Adjustment magnitude " Negative imaginary part of plot " Maximum gain " Constant Damping-ratio " Unit-cirle (discrete systems) " Change main menu options ! Input system matrices ! Input system matrices from File ! System matrices - page overview ! Pole placement ! Observer ! Reduced observer ! Z - transform of matrices " Store plot " Fetch plot " Vertical lines - discrete graph " Change main menu options " Existing state equations " Controllable canonical form " Observable canonical form " View pages and save " Zero/pole ratio " DC gain " Optimize " 1. M = 0, N = 1 " 2. M = B.N " 3. M = -G, N = 0 " Select Zeros by M en N " 2. M = (B - GCB).N " 1. Ma = 1, Mb to select Zeros " 2. Ma = 0, Mb to select Zeros " 3. Ma = 1, Mb = 0, N = 0 " 4. Ma = 0, Mb = 0 " 5. Ma = 0, Mb = (Bb - GbBa).N Input K or Kpz ? Coord Cart or pol?PlotTitles ? Grids in plots ? Print size ? Low frequ. rad/s High frequ. rad/s M-value N-value in deg PlotTitles ? Grids in Plots ? Print size ?
Beginning: End: Step magnitude: Cursor step: NegativeImaginary? Maximum gain: Damp.coeff.(zèta): Unit-circle ? store ? fetch ? show ? Instruction mode ? K Kpz Cartpol no yes no yes A-5 A-4 no yes no yes A-5 A-4 no yes no yes no yes no yes no yes no yes Incorrect input -Abort Real part : , Imaginary part : Number of zeros Denominator polynomial Numerator polynomial POLES ZEROS DENOMINATOR NUMERATOR Select : P oles and zeros or po L ynomials C orner frequencies Select -Return GAINS DENOMIN POL NUMERATOR POL File NOT FOUND -MainMenu -Menu -Next yes
Directory: Input files: -continuation time response other time in sec : wait ! -Prnt sampling period
File name: The phase margin is degrees. -FreqMenu F4-Cursor error ! Breakaway points: No breakaway points Kc-gain real roots Controller gain Kc = -MainMen -Rootlocus Menu -Zoom -NoZoom -OptionsMenu
LockCursor -FreeCur Cursor -Change -Input Number of states : -NoCurs Y Analog system Discrete system -Continu REACHABILITY MATRIX CONTROLLABILITY MATRIX Rank NEW POLES OBSERVABILITY MATRIX OBSERVER POLES SYSTEM Input N : Title : -View pages
less than or more than DC gain = HF gain = Pole = Zero =
more than
less than and less than or between 0 and or between positive or more than and 0 Optimizing No convergence.
not found -return to program -Help T ime response" or return to main menu. cornerfreq damping Systemname : -Delete no name Del -No input -Save Warning y or n Attention Current observer Prediction observer Coefficients : (maximum is Phase ZEROS MATRIX NEW ZEROS for N = -Data old : new : No data Select H NoMenu Help Number of poles (maximum is "Input all complex specimen first ! Gain factor K : Gain factor Kpz : !Largest power of the denominator Largest power of the numerator *Coefficients start with the largest power. ? Laguerre method does not converge - Results are unreliable ! , ERROR ! Number of poles exceeds 3 Press any key to continue. * Input different parameters ! FNumber of corner frequ.s in denominator -2nd order counts double-(max single(s) or double(d) damping coefficient zèta = DNumber of corner frequ.s in numerator -2nd order counts double-(max -┌──────── CHANGE SYSTEM PARAMETERS ─────────┐ =Poles to feedback block <Enter> =Zeros to feedback block <Enter> KClosing the control-loop changes the active system data ! Close y/n ? 3 The loop of this system is not closed ! 6 Try again with another Kc-gain. "Discrete system - Sample period version 4.3, March 27, 1995 all graphic cards % * * * * M A I N M E N U * * * * (S Y S tems A N alysis of linear systems 8Analog system - Change to discrete system ? (y/n) n (Sampled data system with zero-order hold #(less or equal the number of poles) Klargest numerator power must be less or equal the largest denominator power A P P E N D S Y S T E M Number of poles to be added: Number of zeros to be added: 6 * * * * * * B U I L D S Y S T E M * * * * * * J* * * * * * S Y S T E M D A T A T O A N D F R O M D I S K * * * * * * You overwrite an existing file Continue ? ! New data file name : ! System data saved in : No legal file name Wrong directory Directory change Make changes Input new data Select data file Delete file ! - File not found - ;"Ill-conditioned" polynomial - different parameters needed. I N P U T S I G N A L %Number of poles of the input signal: %Number of zeros of the input signal: FIf no "input signal" is provided, then the input signal is a unit step > * * * * * * T I M E R E S P O N S E * * * * * * E poles, the input signal is not a unit step, but an impuls function ! , T I M E R E S P O N S E - L A P L A C E &Continued on next page - press any key 0T I M E R E S P O N S E - E X P R E S S I O N &T I M E R E S P O N S E - T A B L E Time lapse in seconds : ERROR ! Input time lapse again ' T I M E R E S P O N S E - P L O T calculation of the graphics **** TIME RESPONSE **** Z - T R A N S F O R M Sampling period (sec) : B Activate G(z), including zero-order hold ? (y/n) 2 O P T I O N S T I M E R E S P O N S E P L O T M Frequency Real part Imag.part Magnitude Magnitude dB Phase degrees Analog gain, C * * * * * * F R E Q U E N C Y R E S P O N S E * * * * * * ! T A B L E % F R E Q U E N C Y Frequency in rad/s = 1 ERROR ! Input frequency again. ( P H A S E M A R G I N " Controller gain Kc (dB) ? 9 No convergence - not sufficient gain for phase margin ? / G A I N A T P H A S E M A R G I N ' G A I N M A R G I N Phase margin (degrees) ? The phase does not reach The gain margin is ' The required controller gain is Kc = G R A P H I C S Menu of Frequency Program = M E N U O F F R E Q U E N C Y R E S P O N S E P L O T S **** BODE: FREQUENCY - GAIN **** !**** BODE: FREQUENCY - PHASE **** **** POLAR PLOT **** **** LOG GAIN - PHASE **** A-Asym R-Real C-Clr # P L O T O P T I O N S ; * * * * * * R O O T L O C I * * * * * * B R E A K A W A Y P O I N T S # required gain factor is infinite required gain factor Kc = required gain factor Kpz = 2 CALCULATION OF BREAKAWAY POINTS IS NOT POSSIBLE. number of branches = R O O T L O C U S - T A B L E $ complex roots $ real ± j imag mod arg(rad) ERROR ! Input K again. R O O T L O C U S - P L O T Calculating the roots. **** ROOT LOCI **** +R O O T L O C U S P L O T O P T I O N S @ IDENT.FIL unavailable, bad or unconnected - program halted H Printer not ready - Press any key to continue $ System matrices stored in : <Matrix multiply: Columns A unequal rows B - program aborted. +Trace: Matrix not square - program aborted. ,* * * * S Y S T E M M A T R I C E S * * * * - I N P U T S Y S T E M M A T R I C E S 9O B S E R V E R - C O N T R O L L E R W I T H P L A N T 2Sum: Matrices not of equal size - program aborted. 4 M A T R I C E S O F E X I S T I N G S Y S T E M cannot be read. 'Prediction or Current observer P/C/ ? P (Input filename or select other directory CONTROLLABLE CANONICAL FORM OBSERVABLE CANONICAL FORM 0T I M E R E S P O N S E - Z-T R A N S F O R M 0No convergence - Leave this part of the program. P O L E P L A C E M E N T System is not reachable System is not controllable SYSTEM WITH FEEDBACK O B S E R V E R OBSERVER POLES "Feedback system matrix is singular Static gain = Caption for graphics : "C O M P E N S A T O R D E S I G N ,Desired pole equivalent in s-plane ? (y/n) y Give desired pole : s-plane : Real part : This pole is not possible ! Zero/pole ratio DC gain/HF gain ratio : Gain ratio = Add compensator ? (y/n) n -other shown compensator Zero/pole ratio outside limits. DC Gain .Gain for compensator pole inside unit circle : 6Gain for compensator pole and zero in left halfplane : DC gain/HF gain ratio (<1) = Zero/pole ratio (<1) = Ratio not less than 1 ! (Result determined by sampling frequency. Other compensator ? (y/n) n *To change to sampled data system, select " (Gain to feedback block, Kh = ! Delete this page ? (y/n) n JNumber of zeros exceeds or equals number of poles - This part not possible CNumber of zeros exceeds number of poles - This part is not possible %O B S E R V E R - C O N T R O L L E R )C O N T R O L L E R W I T H I N P U T Choose controller zeros: Zero shifting is not possible *F E E D B A C K S T A T E M A T R I X R E D U C E D O B S E R V E R !M A T R I X C O N T R O L L E R .Input the index of the x that must equal the y y does NOT depend of this x ! (Input indexes of available variables x: Altered index assignment )Back to main menu - Illegal system data ! Mouse + driver KpzKc KfbJanFebMarAprMayJunJulAugSepOctNovDec
