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Feedback Control of Dynamic Systems
Feedback Control of Dynamic Systems
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教師:彭明輝
辦公室:工一館 625 室
助教:工一館 403 室
課本:
Feedback Control of Dynamic Systems.
by G. F. Franklin, J. D. Powell, &
A. Emami-Naeini
參考書:
B. C. Kuo, Automatic Control Systems, 7th
Ed.Prentice-Hall Inc., 1995.
1
Key issues in this course
Control (I) considers the design of a controller K(s) for
a given plant P(s) using three approaches
(A) PID controller
(B) Root locus
(C) Bode plot
Δ(s)
where P( s ) = P0 ( s) + Δ( s )
2
z What if there are disturbances and/or sensor noise?
d(t)
r(t) K(s) P0(s) y(t)
n(t)
And
u ( s ) = TUR ( s )r ( s ) + TUD ( s )d ( s ) + TUN ( s )n( s )
= P ( s ) −1 {TYR ( s )r ( s ) + TYD ( s )d ( s ) + TYN ( s )n( s )}
r(t) y(t)
K(s) P(s)
uC u
5
Overview of the Course
(1) Review of root locus and design on Bode plot
(2) Feedback properties and feedback designs
(3) Nonlinear system and Robust design on Bode plot
第一個期中報告(1/6)
(4) State space representation of a system
第一次期中考(1/3)
(5) Analysis of state equation
(6) Controllability and observability
(7) Pole assignment of control system design
(8) State estimator design
第二次期中考(1/3)
(9) Smith filter and nonlinear systems
第二個期中報告(1/6)
Credit:
◎ Two mid term tests, each accounts for 1/3 of the credit,
two term report, each accounts for 1/6 of the credit
6
Chapter 1. Review
Fig. 1
7
the change in plant dynamics. That is, if the plant model is
not obtained with sufficient accuracy, it is impossible to
acutely meet the required performance requirement.
However, the above block diagram is a representative
of a wider class of feedback systems, such as the one shown
below
r(t) y(t)
H K(s) P(s)
H
Fig. 2
Fig. 3
9
Consider a car driven by a torque of the engine. It can
be modeled as a mass m and an equivalent force u(t)
where u − bx = mx
or or
b u
x+
x =
m m
m2
tire
ks/2 m1 ks/2
10
b( y − x ) + k s ( y − x) − k w ( x − r ) = m1
x
−b( y − x ) − ks ( y − x) = m2 y⇒
b k k k
x+
( y − x ) + s ( y − x) + w x = w r
m1 m1 m1 m1
b k
y+
( y − x ) + s ( y − x) = 0
m2 m2
11
I1θ1 + b(θ1 − θ2 ) + k (θ1 − θ 2 ) = M c + M d
I θ + b(θ − θ ) + k (θ − θ ) = 0
2 2 2 1 2 1
Example 2.14:電樞驅動式直流馬達
z In this type of motors, the magnetic field is held at
constant by applying a constant voltage, while the
voltage applied to the armature circuit (電樞電路)
varies to drive the motor.
Mechanical dynamic:
Jθ + bθ = T = K i
t
Circuit dynamic:
L di + Ri = va − e = va − K eθ
dt
input: va
12
Taking Laplace transform of the above equation, it gives
( Js 2
+ bs ) Θ( s) = Kt I ( s)
1 ⎡ Js2 + bs Ke ⎤
va (s) = ⎢ + ⎥ Θ(s)
( Ls + R ) ⎣ Kt ( Ls + R ) ⎦
Hence
−1
Θ(s) ⎡ Js2 + bs Ke ⎤ 1
=⎢ + ⎥
va (s) ⎣ Kt ( Ls + R ) ⎦ ( Ls + R )
Kt ( Ls + R ) 1
2
( Js + bs ) ( Ls + R) + Kt Ke ( Ls + R)
Kt
= 2
( Js + bs ) ( Ls + R) + Kt Ke
z There are three approaches to determine the model
13
parameters J, b, L, R, Kt, Ke
(1) A series of direct measurements of model parameters.
For instance, J can be estimated from its geometric
shape, b can be measured from quasi-static experiment,
and so on.
(2) Curve fitting to the step responses (or other response
in the time domain) of the motor
Θ(s) Kt Θ(s)
= 2 =∞
va (s) ( Js + bs) ( Ls + R) because va (s) S=0
ωC
u (t ) = P(s) y (t ) =
N N
∑ u sin (ω t + φ )
i =0
i i i ∑ y sin (ω t + ϕ )
i =0
i i i
ωC
17
z It is inevitable that model inaccuracy exists due to sensor
noises, neglected higher order dynamics and
nonlinearities, hence it is essential that a feedback
control system must be able to handle model
inaccuracy/uncertainty in terms of robust stability and
robust performance.
z Uncertainty/model inaccuracy can be estimated from the
Bode plot, but NOT from time domain parameter
estimation.
Gain uncertainty
ωC
phase uncertainty
18
z Handling model uncertainty for robust stability
Unit circle
19
1.3:Design Requirement/performance specifications
Some of the primary design requirements can be
transcribed into properties of the dominant poles of T(z) in
the time domain, such as
(A-1) Transient performance tr, ts, PO (i.e.,ζ and ωN)
(B) Stability margin (in terms of ζ)
(C) Steady state error (KP, KV, Ka)
(D) Noise attenuation
(E) Disturbance rejection/ sensitivity reduction (often
equivalent to tracking)
20
ς jω
ωn
σ = ζ wn
σ = ζ wn
21
where
ς=0 jω
1>ς>0
ς<0
ζ ≥1 σ = ζ wn
22
z Steady state error (KP, KV, Ka)
KP measures the capability of a system to follow a
constant step command (polynomial of zero degree), and
the steady state error following a step command is
1
eSS ≈
KP
For system type zero,
K P=L( s) S =0 = P( s) K ( S ) H S =0
K V=sL( s) S =0 = sP( s) K ( S ) H S =0
24
1
eSS ≈ = limited > 0
Ka
Steady state error system
Type 0 Type I Type II
Step command 1 0 0
KP
Ramp command ∞ 1
KV
0
Parabolic commnad ∞ ∞ 1
Ka
25
1.4:Classifications of systems and ODE
y(t)+ a2(y , y )y(t)+ a1(y , y )y(t)= u(t) (1.1)
Transfer function
Applying Laplace transform to Eq. (1), it gives
⎡ ⎤ ⎡ ⎤
⎢
⎢ s3Y(s)−s2y(0)−sy (0)− y(0)⎥⎥ + a2 ⎢⎢s2Y(s)−sy(0)− y (0)⎥⎥
⎢ ⎥ ⎢ ⎥
⎣ ⎦ ⎣ ⎦
⎡ ⎤ ⎡ ⎤
+ a1 ⎢⎢sY(s)− y(0)⎥⎥ = b1 ⎢⎢sU(s)−u(0)⎥⎥ +U(s)
⎢⎣ ⎥⎦ ⎢⎣ ⎥⎦
26
Assuming zero initial condition
y(0)= y (0)= y(0)= u(0)= 0 ,
one obtained
⎡ ⎤ ⎡ ⎤
⎢
⎢
3 2
s + a2s + a1s⎥Y(s)= ⎢b1s+ 1⎥⎥U(s)
⎥ ⎢ (1.5)
⎢ ⎥ ⎢⎣ ⎦⎥
⎣ ⎦
That is
Zero polynomial
b s+ 1
P(s) = Y(s) = 3 1 2 (1.6)
U(s) s + a2s + a1s
Pole polyno.
※ A transfer function description can be obtained from the
ODE by assuming zero initial conditions
※ Zero polynomial represents differential operators on the
input, while pole polynomial represents differential
operators on the output
※ To obtain an ODE from a transfer function, convert (6)
into (5), then convert (5) into (3).
※ However, a transfer function does not exist for a linear
time varying system since Laplace transform is not
applicable.
27
1.5:Transfer function and ODE
Consider a general linear, time-invariant ODE
y(n)(t)+ a1y(n−1)(t)+ a2y(n−2)(t)+...+ any(t)=
(1.7)
b0u(m)(t)+ b1u(m−1)(t)+ b2u(m−2)(t)+...+ bmu(t)
Applying Laplace transform to the ODE, one obtains
⎡ ⎤
⎢
⎢
⎢
snY(s)−sn−1y(0)−sn−2y (0)−...−sy(n−2)(0)− y(n−1)(0)⎥⎥ ⎥
⎢⎣ ⎥⎦
⎡ ⎤
+a ⎢
⎢
1 ⎢⎢
sn−1Y(s)−sn−2 y(0)−...−sy(n−3)(0)− y(n−2)(0)⎥⎥ ⎥
⎣ ⎥⎦
⎡ ⎤
+a ⎢
⎢
2 ⎢⎢
sn−2Y(s)−sn−3y(0)−...−sy(n−4)(0)− y(n−5)(0)⎥⎥ ⎥
⎣ ⎥⎦
⎡ ⎤ ⎡ ⎤
+a3 ⎡⎢⎣...⎤⎥⎦ + a4 ⎡⎢⎣...⎤⎥⎦ +...+ an−1 ⎢⎢sY(s)− y(0)⎥⎥ + an ⎢⎢Y(s)⎥⎥
⎢⎣ ⎥⎦ ⎢⎣ ⎥⎦
⎡ ⎤
=b ⎢
⎢
0 ⎢⎢
smU(s)−sm−1u(0)−...−su(m−2)(0)−u(m−1)(0)⎥⎥ ⎥ (8)
⎣ ⎥⎦
⎡ ⎤
+b ⎢
⎢
1 ⎢⎢
sm−1U(s)−sm−2u(0)−...−su(m−3)(0)−u(m−2)(0)⎥⎥ ⎥
⎣ ⎥⎦
⎡ ⎤
+b ⎢
⎢
2 ⎢⎢
sm−2U(s)−sm−3u(0)−...−su(m−4)(0)−u(m−5)(0)⎥⎥ ⎥
⎣ ⎥⎦
⎡ ⎤ ⎡ ⎤
+b ... + b ... +...+ b
⎡
3 ⎢⎣
⎤
⎥⎦
⎡
4 ⎢⎣
⎤
⎥⎦
⎢
m−1 ⎢⎣⎢
sU(s)−u(0) + b U(s)
⎥
⎥
⎢
m ⎢⎢
⎥
⎥
⎥⎦ ⎣ ⎥⎦
28
snY(s)+ a1sn−1Y(s)+ a2sn−2Y(s)+...+ an−1sY(s)+ anY(s)
+C(ai , y(i)(0), si ) (10)
= b0smU(s)+b1sm−1U(s)+...+bm−1sU(s)+bmU(s)
+D(bi , u( j)(0), s j )
29
1.6: Multivariable (MIMO) system
z A system is called a ‘Multiple-Input-Multiple-Output’ if
consists of more than one inputs and/or more than one
outputs.
z For instance, consider a mill plant rolling papers or
steels as depicted below
u2 = P
u1 = T
y1 = t
y2 = v
where
u1 = T:pulling force, 1st input
u2 = P:rolling pressure, 2nd input
y1 = t:production speed, 1st output
y2 = v:thickness of the plate or paper, 2nd output
Let the dynamics between u1 and y1 be captured by the
30
transfer function P11(s) so that
Y1 ( s )
P11 ( s ) or Y1 ( s ) = P11 ( s )U1 ( s )
U1 ( s ) (1.25)
Similarly,
Y2 ( s )
P22 ( s ) or Y2 ( s ) = P22 ( s )U 2 ( s )
U 2 ( s) (1.26)
31
Y2 ( s )
P21 ( s ) or Y2 ( s ) = P21 ( s )U1 ( s )
U1 ( s ) (1.28)
32