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Lecture 2: Experiment 1
EE380 (Control Systems)

Manavaalan Arun Kant Ramprasad

Gunasekaran Singh Potluri
PhD student PhD student Associate Professor
manvaal@iitk.ac.in arunkant@iitk.ac.in potluri@iitk.ac.in
JJ
Department of Electrical Engineering II
Indian Institute of Technology Kanpur J
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August 05, 2011
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Contents
1 Outline of the experiment 3

2 Tasks common to all 6 experiments 4

3 Homework (HW) vs. Lab work (LW) 5

4 HW: Determine parameters of plant model 6

5 LW: Identification 7

6 Loop-shaping (1/5): Typical Gdes 8

7 Loop-shaping (2/5): Example 9

8 Loop-shaping (3/5): ζ ←→ M p ←→ PM 10
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9 Loop-shaping (4/5): M p ←→ DD ←→ PM 11
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10 Loop-shaping (5/5): Determination of ω g 12 J
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11 Discretization 13
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12 Simulate; LW: C code, Implement, Analyze 14 Forward
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Outline of the experiment

Want to control the speed of a pmdc motor. Steps:
• Mathematical modeling
• Design using loop-shaping
• Simulation on PC
• Deployment on experimental setup

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Tasks common to all 6 experiments

Simulation
• Perform PC-based simulation of CL system using GNU Octave.
• Perform PC-based simulation of digital control of a continuous-time system using
GNU Octave.

Realization on hardware
• Utilize the various components of an integrated development environment (IDE):
editor, compiler, linker, debugger, and programmer to program a µC.
• Program controller using C language into µC.
• Monitoring: read data into PC from µC using UART modules.
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Analysis II
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• Compare actual performance with predicted performance.
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Homework (HW) vs. Lab work (LW)

HW meant to help practice most of LW in advance.

HW LW

Determination of parameters of plant model Identification of parameters of plant model

Design of controller using loop-shaping Design of controller using loop-shaping

Discretization of controller Discretization of controller

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Simulation Write controller in C J
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Implementation; verification of response
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HW: Determine parameters of plant model

TL (s)

V (s) + 1 I (s) T (s) + − 1 ω (s)

Kt
− sL a + RΣ Js + B

Kb

• KT , Kb given in Table 1.1.

ω (s) Km
= • J is rotor inertia in Table 1.1.
V (s) τm s + 1
with • B calculated in §1.4.1.
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KT
Km = , • RΣ calculated in §1.4.2. II
R ∑ B + K T Kb J
R∑ J I
τm =
R ∑ B + K T Kb Back
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LW: Identification
V ω
ω(∞)
R 0.63ω(∞)

t τ t
Plant ω
V

• Plant = H-bridge + pmdc motor.

• Assume form K/(τs + 1).
• ω (t) = RK (1 − e−t/τ )
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• τ is time where speed is 0.6321ω (∞) II
• RK = ω (∞). J
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Loop-shaping (1/5): Typical Gdes

klf LF forbidden

HF forbidden zone
zone

ωu ωn
ωd ωl ωg
khf −20 dB/dec
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Loop-shaping (2/5): Example

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Loop-shaping (3/5): ζ ←→ M p ←→ PM
From Lecture 26 of EE250-2011
100
PM (in °)
Mp (in %)
90
PM∼ (in °)

80

70

60
PM, Mp, PM∼

50

40

30

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20
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10
J
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
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ξ
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Loop-shaping (4/5): M p ←→ DD ←→ PM
From Lecture 26 of EE250-2011
2
∆
PM/100
1.8

1.6
DD (in decades) & PM (in degrees)

1.4

1.2

0.8

0.6
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0.4
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0.2 J
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0 10 20 30 40 50 60 70 80 90 100
Peak overshoot M (in %)
p Back
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Loop-shaping (5/5): Determination of ω g

CL spec: ts Red rectangles represent OL

ts
τ≈ 5

1
ωb ≈ τ
Select this ω g

For Gdes set ω g ≈ ωb Yes

Really, ω g ≤ ωb ≤ 2ω g

Simulate CL sys ts achieved? JJ

II
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No
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Tweak ω g
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Discretization
a1 s + a0
s2 + b1 s + b0

Simulation
diagram
Group
ẋ1 = x2 terms ẋ = Ax + Bu
ẋ2 = −b0 x1 − b1 x2 + u
y = Cx + Du
y = a0 x1 + a1 x2

Euler’s
approximation
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xk+1 = ( A∆t + I ) xk + B∆tuk , J
yk = Cxk + Duk I
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Simulate; LW: C code, Implement, Analyze

• Simulation: easysim.m • Implement: As in demo slides
• Discretized controller
−→ C code: • Analyze: Compare results

x1 (k + 1) = a11 x1 (k ) + a12 x2 (k ) + b1 u(k )

x2 (k + 1) = a21 x1 (k ) + a22 x2 (k ) + b2 u(k )
y(k ) = c1 x1 (k ) + c2 x2 (k ) + du(k )

In main-prog.c before main() insert float x1[2],x2[2];

In main() insert x1[0] = x2[0] = 0;

x1[1] = a11 ∗ x1[0] + a12 ∗ x2[0] + b1 ∗ u; JJ

x2[1] = a21 ∗ x1[0] + a22 ∗ x2[0] + b2 ∗ u; II
y = c1 ∗ x1[0] + c2 ∗ x2[0] + d ∗ u; J
x1[0] = x1[1];
x2[0] = x2[1];
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