OBJECTIVE: To design a compensator for the given system such that the closed-loop system satisfies a set of time-domain performance objectives.
TASKS:
The system to be controlled is the heading angle of a ship. The input to the system is the rudder angle, and the output is the heading angle. The transfer function for a linear model of the Mariner-class cargo ship with nominal parameter values is shown below. The closed-loop response for a unit step input must satisfy the following specifications:
the controller must contain an integrator to offset constant disturbances acting at the ship input;
the settling time (2%) must be less than 150 seconds;
the overshoot must be less than 15%; and
the maximum absolute value of the rudder angle must be less than 5.
Design a compensator which accomplishes this. Determine the actual closed-loop step response overshoot and settling time for the compensated system and also for the uncompensated system (closed-loop and with a gain of -1 in series with the uncompensated system's transfer function). Determine the rudder angle for the compensated system.
REPORT:
Write a report which documents your design process. Discuss how satisfying the performance specifications is related to the locations of the closed-loop poles. Include time domain plots, and other plots if appropriate, to illustrate and justify your work.
Click the icon to return to the Dr. Beale's home page
Latest revision on Thursday, June 8, 2006 9:29 AM