By Albert C Hall

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**Example text**

49. � M M7"! tlon is equal to three. ;. 5, and the fac tor rl, in this center of circle center I, locus G(jro) , the center of which is the intercept on real axis is shown in figure 28. 49 is, there- illustrated by a simple example. to investigate the performance of the servomechanism shown in diagrammatic form lating electrical is It in electro-mechanical device for trans an ideal servo motor. £ 29 the adjective "ideal" is only that the deTice to which the term re1atioDship suffiCiently follow sult.

Such a system posse sses the required form However, if Therefore, given by Equation Equation (83) controller. of ( infinite output displace transfer-locus to have zero displacement the motor load is partly Coulomb friction, the motor will not revolve unless sufficient armature current is applied to produce friction. motor is measured in radians the s ervome c hanism (83) a torque large enough to overcome the Coulomb no longer possesses a transfer-function of and static error may exist in the system.

Response to Figure 5 illustrates the effect of various system gains upon the servo step input. a teristic equation If (Eq uat iun tem is illustrated by a ( curve C the gain of the system is so low tha t all the r o ot s of the charac (34» of the system are real and unequal, curve such as curve A. As the system becomes in order, less overdamped, c rit ica lly damped damping fact or ble. ), the response of the sys system gain is increased, this particular ( curve underdamped with a small damping factor ) B , underdamped with a large ( curve D), and finally unsta A response similar to th a t illustrated by curve C is close to the optimum for most servo arplichtions.