Professional Documents
Culture Documents
1. Review
Block diagrams
K. J. strm
1. Review
Properties of feedback
2. Cruise Control
3. Standard Models
4. Summary
Themes: A simple control design. Use of standard models.
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+
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2. Cruise Control
Process Model
Th
Cont
Eng
Velocity
Body
dv
+ vd = F mg
dt
where
v [m/s] (10 m/s=36 km/h=22 miles/hour)
Simplifying assumptions
u normalized throttle 0 u 1
slope in [rad/s]
dv
+ 0.02v = u 10
dt
Rt
PI controller: u = k(vr v) + ki 0 (vr v( ))d
Process model:
d2 e
de
d
+ (0.02 + k) + ki e = 10
2
dt
dt
dt
d2 e
de
d
+
(
0
.
02
+
k
)
+
k
e
=
10
i
dt2
dt
dt
Compare with spring-mass-damper system
m
d2 x
dx
+ 2 0
+ 02 x = 0
2
dt
dt
d2 x
dx
+
d
+ kx = 0
dt2
dt
gives
k = 2 0 0.02
ki = 20
k
m
and = 0.5
d
mk
e [m/s]
where 0 =
d x
dx
+
2
+ 02 x = 0
0
dt2
dt
1.5
1
0.5
0
18
0.5
10
20
30
40
t [s]
50
60
70
80
90
100
10
20
30
40
t [s]
50
60
70
80
90
100
16
0.5
12
0.4
u [0-1]
14
0.3
10
0.2
0.1
10
20
30
40
50
60
Time [s]
70
80
90
100
4
3
e [m/s]
e [m/s]
2.5
2
1.5
1
1
0
0.5
0
10
20
30
40
50
t [s]
60
70
80
90
100
0.4
0.8
0.3
20
30
40
10
20
30
40
50
60
70
80
90
100
50
60
70
80
90
100
t [s]
0.6
0.2
0.4
0.1
0
10
u [0-1]
u [0-1]
0.5
0.2
10
20
30
40
50
t [s]
60
70
80
90
100
t [s]
Agenda
3. Standard Models
dy
+ ay = 0
dt
y(t) = Ceat
where C = y(0) is an arbitrary constant. The equation
dy
+ a y = bu
dt
y(t) = Ce
Z
+b
ea(t ) u( )dt
y(t) = y(0) e
+b
ea(t ) u( )dt
dn y
d n1 y
d n2 y
+
a
+
a
+ . . . + an y = 0
1
2
dtn
dtn1
dtn2
a<0
1
2.5
0.8
2
1.5
0.4
0.2
0.5
0.6
at
0.2
0.4
at
0.6
0.8
y(t) =
n
X
Ck e k t
k=1
30
20
0.2
0.4
10
0.2
10
5
10
20
15
y(t) =
5
10
y(t) =
kt
Ck1 (t) e
k=1
h(t )u( )d
k=1
. . . , h(n2) (0) = 0,
Ck1 (t) e k t
15
dn y
d n1 y
+
a
+ . . . + an y = u
1
dtn
dtn1
n
X
k=1
n
X
= 0.25
40
0.6
dn y
d n1 y
d n2 y
+ a1 n 1 + a2 n 2 + . . . + a n y = 0
dtn
dt
dt
If is a root to the characteristic polynomial
e t cos t
= 0.25
0.4
Multiple Roots
h(n1)(0) = 1
h(0) = 0,
hP (0) = 0,
. . . , h(n2) (0) = 0,
h(n1) (0) = 1
Standard Forms
Standard forms are foundations of the language
Learn to deal with the standard forms
n1
n1
d y
d y
d u
+ a1 n1 + . . . + an y = b1 n1 + . . . + bnu
n
dt
dt
dt
The roots of A(s) are called poles of the system. The roots of
B (s) are called zeros of the system.
The poles give the components of the time functions that
compose the solution.
Interpretation of Poles
Interpretation of Zeros
k=1
g(t) =
dn y
d n1 y
d n1 u
+
a
+
.
.
.
+
a
y
=
b
+ . . . + bnu
1
n
1
dtn
dtn1
dtn1
Introduce
Ck1 (t) e k t
k=1
d n1 u
d n2 u
b1 n1 + b2 n2 . . . + bnu = B ( ) Ce t = 0
dt
dt
Inverse System
dn y
d n1 y
d n1 u
+
a
+
.
.
.
+
a
y
=
b
+ . . . + b nu
1
n
1
dtn
dtn1
dtn1
dn y
d n1 y
d n1 u
d n2 u
+
a
+
.
.
.
+
a
y
=
b
+
b
+ . . . + b nu
1
n
1
2
dtn
dtn1
dtn1
dtn2
Introduce
A( s) = sn + a1 sn1 + . . . + an1 s + an
B ( s)
A(s)
is called the transfer function of the system
Cruise Control
Assume that the and the output are constant, i.e. y(t) = y0 and
u(t) = u0 . Then
an y0 = bnu0
The number
y0
bn
=
u0
an
is called the static gain of the system.
Using Matlab
z=1.0;
w0=0.1;
t=0:0.01:100;
th0=0.04;
%Slope of the road
k=2*z*w0-0.02;
ki=w0^2;
syseol=tf(10*th0,[1 0.02]);
sysecl=tf(10*th0*[1 0],[1 0.02+k ki]);
eol=step(syseol,t);
ecl=step(syscl,t);
plot(t,eol,b--,t,ecl,b-)
4. Summary
Solution to a simple control problem:
Understand how the system works: use block diagram.
Approximate and write differential equations for the
blocks.
Eliminate variables to obtain a differential equation for
closed loop system
Select controller and its coefficients that give desired
roots of the characteristic equation.
The standard model and associated concepts: characteristic polynomial, poles, zeros and transfer functions, stability,
inverse systems
dn y
d n1 y
d n1 u
+
a
+
.
.
.
+
a
y
=
b
+ . . . + b nu
1
n
1
dtn
dtn1
dtn1
c K. J. strm August, 2001
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