Problem 7-1: Sphere Suspension part 1 The electromagnetic sphere suspension prob
ID: 3349549 • Letter: P
Question
Problem 7-1: Sphere Suspension part 1 The electromagnetic sphere suspension problem has a plant with nominal transfer function, from cur rent to ball position, of X (s) K Is) Similarly, the voltage to current transfer function of the coil is nominally I(s Kc V(s) Ts+1 Draw a block diagram and compensate using PD compensation, i.e. G,(s) = Kp + Kds using position feedback on the sphere. The output of your controller is coil voltage. Sketch a root locus diagram, and comment on conditions for stability with respect to Kp and Kd Now, draw a block diagram using minor loop feedback. In this case, the minor loop feedback quantity is coil current I(s), and the major loop feedback should be X(s). A single gain is used on each feedback quantity. Sketch a root locus diagram, and comment on design choices in this case.Explanation / Answer
As the root locus go through -1+j and it is a positive feedback system so there will be even no of poles +zeroes at the right side of -1+j and as we have two poles at s=0 so its not possile with this compensator.