= = A frequency response for the open loop system of a crane system is shown in Figure Q2. a) Analyse the transient response, stability and steady state error of the system, then complete Table Q2. Table Q2 Performance Criteria Value Transient Response Phase margin, OM Gain margin. GM Bandwidth, BW Stability The gain crossover frequency, WM The phase crossover frequency, WGM Stability* : Stable Unstable/Marginally Stable Steady state Static error constant* : Kp/K,/Ka = Steady state error, ess(0) = one answer only (8 marks) = = b) Re-evaluate the system performance if you are asked to adjust the preamplifier gain for the system to operate at 20% overshoot. (You should have another table similar to Table Q2 for the gain-adjusted system) (17 marks) 60 40 .............................. 20 Magnitude (dB) -20 -40 -60 10-1 10 101 102 103 90 45 Phase (degrees) -45 -90 - 135 -180 -225 -270 -315 -360 10-1 10 102 103 101 Frequency (rad/s) Figure Q2 = = A frequency response for the open loop system of a crane system is shown in Figure Q2. a) Analyse the transient response, stability and steady state error of the system, then complete Table Q2. Table Q2 Performance Criteria Value Transient Response Phase margin, OM Gain margin. GM Bandwidth, BW Stability The gain crossover frequency, WM The phase crossover frequency, WGM Stability* : Stable Unstable/Marginally Stable Steady state Static error constant* : Kp/K,/Ka = Steady state error, ess(0) = one answer only (8 marks) = = b) Re-evaluate the system performance if you are asked to adjust the preamplifier gain for the system to operate at 20% overshoot. (You should have another table similar to Table Q2 for the gain-adjusted system) (17 marks) 60 40 .............................. 20 Magnitude (dB) -20 -40 -60 10-1 10 101 102 103 90 45 Phase (degrees) -45 -90 - 135 -180 -225 -270 -315 -360 10-1 10 102 103 101 Frequency (rad/s) Figure Q2