By Albert C Hall

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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.

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