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--System (controlled) modeling --Controller design --System analysis -stability -transient -steady state -frequency response
Plant
Controlled system
Feedback element
Sensors
Plant (controlled system): is the process to be controlled FB Element: Sensor(s) that feeds the plant O/P back to the I/P side Controller: Takes the error (difference between I/P and the FB O/P) into account to create a control signal in a way the error is minimized Input (reference): is the desired O/P
Block diagram of a open-loop control system ** O/P quantity has no influence in the I/P quantity (and hence in the controller) and hence there is no feedback in the system.
Eg: Bread Toaster: The setting of the darkness knob or timer represents the I/P, and the degree of darkness or crispness of the toasted bread is the O/P. If the degree of darkness is not satisfactory (may be coz type of breads different), there is no way to automatically alter the length of time the heat is supplied
Today, controllers are typically implemented as programmable digital hardware (digital computers) Digital Control
ADC
ADC
Sensor (s)
To be usable by digital computers, analog signals need to be sampled and converted to digital form by an analog-to-digital converter (ADC). Digital signals from the digital computer needs to be converted back to analog by a digital-to-analog converter (DAC)
Laplace-transform Vs Z-transform
Analog (Continuous)
Linear differential equations (represents linear systems)
Laplace-transform
Digital (Discrete)
Linear difference equations
Z-transform
Algebraic equations
Inverse Laplace-transform
Algebraic equations
Inverse Z-transform
R( s )
GC ( s )
GP ( s )
GP ( s )
C ( s)
H ( s)
GC ( s)GP ( s) E ( s) C ( s) GC ( s)GP ( s) C ( s) M ( s) R( s) 1 GC ( s)GP ( s) H ( s)
Closed-loop Transfer function (T/F)
GC ( s ) GP ( s )
Controller T/F Plant T/F FB element T/F Laplace transform of the O/P Laplace transform of the I/P
H ( s) C ( s)
R( s )
R( z )
GC ( z )
GP ( z )
GP ( s )
C( z)
H ( z)
GC ( z )GP ( z ) E ( z ) C ( z ) GC ( z )GP ( z ) C ( z) M ( z) R( z ) 1 GC ( z )GP ( z ) H ( z )
Closed-loop Digital transfer function (T/F)
GC ( z ) GP ( z )
Controller T/F Plant T/F FB element T/F Z-transform of the I/P Z-transform of the O/P
H ( z) C( z)
R( z )
Remarks:
usually a programmed in a micro-controller or a single-chip DSP. DACs and ADCs are assumed part of the blocks H(z) and GC ( z ) . **There still are several similarities between digital and analog control design and analysis techniques. Particularly, when T (sampling time) is small, design and analysis techniques in the analog domain can be used in sampled-data control systems as well.
GC ( z ) is
Remarks (cont..):
**But T can be significantly large in certain practical situations, for instance -- Remote control (data communication delay) -- Delays in sensor information processing (eg: image processing when cameras are used as a sensor) In such situations, control is inherently digital and digital control theories (eg: z-transform techniques instead of Laplace-transform) may be necessary to improve control performance.
Analog control theories are applicable if the effects of finite sampling is negligible (T is small: How small is case dependent and hence can not be generalized)
Digital control theories may be necessary if the effects of finite sampling is not negligible (T is significantly large)
Note: Control theories refer to: System (plant) modeling, control theories (control laws/Control algorithms), performance and stability analysis etc..
Thermocouple Signal
(Voltage signal)
User valve
Low-level Sensor (0.5ft) Burner valve
Hot water
The Plant
Gas
I/P (reference): desired water temp Measurable O/P: temperature and water level Control I/P: Burner valve position
The control engineers task is to design a controller (either analog or digital) that Processes the temperature and water level to produce control I/P (valve position) to Maintain the water temperature at the desired level
This type of control system can be modeled and a controller can be designed using computer assisted engineering (CAE) software packages. Eg: MATRIX, SIMULINK
-- Modeling, design, and analysis tools
Example 2: Robot arm Plant: Robot manipulators I/P: Desired trajectory Desired position O/P: Joint angle position and velocity Relative position between the end-effecter and the target point Sensors: Optical encoders, tacho-generators Stereo cameras Controller: Numerous different methods are being used Eg: PID Actuators: Motors
Set-point
Time
Set-point
Hysteresis
Time
Transfer Curves
ON
A ON
2 ia* 1 sA
TA+
ia
3 TA-
A+
A-
A+
Consider the 3rd order aircraft attitude control system (unity FB) with OLTF
For this system, it can be proved that when K=181.17, the max. overshoot is 78.88% Now change the control law as follows
To apply Root Locus Method, rewrite the above equation as (to draw root loci, open-loop TF should take form G(s)H(s) = K N(s)/D(s))
The Root-Loci
When KD increases, one root moves from t-3293.3 towards the origin while the two complex roots move left and approach the asymptotes. Too large values of KD results in two complex roots having reduced damping and increased natural frequency of the system. To that end, it appears that the ideal location for the two complex roots is near the bend of the root locus
y (t )
Time (sec)
Conclusions
Minimum of maximum overshoot occurs at
K D 0.002 .
Rise time is improved with the increase of K D . Too high a value of KD increases the maximum overshoot and the settling time. This is due to lowering of damping as KD is increased indefinitely. A derivative control action can improve the transient response of the system!!
Conclusions continued
Derivative control action.. Increases BW Amplifies any noise in the error signal and may require filtering in the implementation (For instance, When sensor measurements are corrupted by noise) Improves GM and PM
See the Bode diagram
Phase (Deg.)
|G(jw)| (dB)