Professional Documents
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Systems
Part
I:
Subject
overview
An
introduc:on
to
feedback
Lecture slides for ELEN90055 prepared by Michael Cantoni (c) 2011, 2012
Welcome
to
ELEN90055
Control
Systems
...
float
output
input
memory
net
chamber
flow qof
the
p orifice
ast
like
the
integral
map),
to
represent
cause
and
effect
inflow
q‘Disturbances’
x water-‐level
i afloat
re
exogenous
and
i nput
signals
which
are
uncertain
(i.e.
not
known)
1 t
x(t) = x(0) + q( ) d
valve supply
pressure
A 0
(a
‘disturbance’)
M.Cantoni (c) 2011, 2012 ELEN90055 Control Systems: Part I 6
Examples
of
feedback
...
steam
engine
1790s
fly-‐balls
rise
schemaLc
Wa]’s
governor schemaLc with
increase
in
speed,
which
linkage closes
valve
to
bu]erfly
valve reduce
torque
boiler
fly-‐balls
fall
side piston
with
decrease
in
side speed,
which
opens
valve
to
pulley
to
engine
h]p://www-‐g.eng.cam.ac.uk/125/1950-‐1975/control_governor.html
increase
torque h]p://www-‐g.eng.cam.ac.uk/125/1950-‐1975/control_wa]engine.html
d⇥ 1
thro]le = τ
(‘nominal’
+
engine
net
dt J
input
‘disturbance’)
torque
torque engine
speed
linkage pulley
gain gain
fly-‐ball
‘signals’
carry
informa:on
as
dynamics
‘systems’
map
input
signals
(causes)
a
func1on
of
1me block
diagram to
output
signals
(effects)
M.Cantoni (c) 2011, 2012 ELEN90055 Control Systems: Part I 7
Examples
of
feedback
...
fly-‐balls
rise
Wa]’s
governor schemaLc Points
with
to
ninc.
ote
in
...
speed,
which
linkage
‘Equilibrium’
is
reached
when
ALL
of
the
signals
in
the
bu]erfly
makes
valve
block-‐diagram
remain
constant
over
:me
valve more
closed
boiler
fly-‐balls
fall
side
The
uncertain
load
torque
is
m atched
by
piston
with
the
engine
torque
if
an
equilibrium
is
reached,
dec.
in
because
the
input
of
an
integrator
side is
necessarily
speed,
which
zero
at
equilibrium
makes
valve
pulley
to
e ngine
will
an
equilibrium
be
reached?
...
this
is
a
qoues:on
of
‘stability’
...
schemaLc
h]p://www-‐g.eng.cam.ac.uk/125/1950-‐1975/control_governor.html more
pen h]p://www-‐g.eng.cam.ac.uk/125/1950-‐1975/control_wa]engine.html
load
torque
Sta:c/constant
block
diagram load
or
steam-‐pressure
perturba:ons
from
the
nominal
values
lead
to
(a
‘disturbance’) an
integrator
off-‐sets
in
engine
speed
at
equilibrium,
because
the
single
loop
integrator
has
m emory
again!!!
of
the
net
torque
‘transient’
_ engine
iner:a
engine
&
output
steam
+
input
d⇥ 1
thro]le = τ
pressure net
ake
speed
oengine
gain
in
the
loop
can
minput dt J
ff-‐set
small
for
large
load/pressure
off-‐sets
engine
speed
torque
torque (want
this
to
how
much
gain
is
required
linkage
specifica:on?
be
constant)
to
make
the
off-‐set
less
than
apulley
gain gain
fly-‐ball
does
making
the
gain
too
big
lead
to
problems?
dynamics
transmission
line
phase
detector
clock
+
CLK CLKOUT
τM desired
ref +
clock
VS
⇥ = ⇥D + τ
schemaLcs phase
of
received
clock
VOLTAGE CONTROLLED DELAY (VCD) rela:ve
to
clock
source
CLKOUT
τD
SYS
CLK
CLK
CLKM
D integrator
R C
VD RX
CLK
VCD _
τM R
+
OPAMP
signals
in
the
block
diagram
above
-1 BACK-MATCHED
VM U
SOURCE
0 0
+ -V0
_
VL VH
VS
WITH
DELAY τ (rising
edges
of
CLK
at
source)
DELAY COMPENSATOR
Abstrac:on
CLK y ields
an
addi1ve
disturbance
model
of
the
uncertain
component
CLKOUT
τ M V S
‘uncertain’
systemZero
‘error’
delay compensator
delays
between
a
‘measurement’
lossless tx-line of
a
signal
and
a
constant
‘reference’
that
enters
delay τ SUBSYS2 2
like
a
disturbance
is
achieved
at
equilibrium
if
there
is
an
integrator
in
the
loop
clock
CLK CLKOUT
τM VS
For
the
cdelay
lock
management
compensator
feedback
lossless tx-line delay τ system,
increasing
the
loop
gain
can
lead
to
3
Vf feedback
� ⇥
gain A for large A 1
Vo = · Vs · Vs
1+ ·A
overall
gain
is
only
a
func(on
of
the
feedback
network
if
the
= R2 /(R1 + R2 ) op-‐amp
gain
is
large
...
overall
gain
is
ROBUST
to
variability
in
A!
M.Cantoni (c) 2011, 2012 ELEN90055 Control Systems: Part I 11
Examples
of
feedback
...
posi:on
sensi:ve
laser
photodiode
(PD) Atomic
force
microscopy
(AFM)
uses
can:lever feedback
for
instrumenta1on
Goal:
make
the
‘z’
control
force
sample ‘balance’
the
force
between
the
sample
‘x,y’
sweep
piezo
http://www.nanolab.polimi.it/
and
the
sharp
can:lever
:p
in
order
to
command drive achieve
a
reference
deflec:on
‘z’
command
Recording
this
force
as
the
sample
is
signal
computer
power
progressively
scanned
in
the
‘x,y’
plane,
amplifier control amplifier under
the
can:lever,
yields
an
image
schemaLc The
transient
behaviour
of
the
‘z’
computer actuator control
loop
limits
the
‘x,y’
scan
rate
http://www.jpk.com/dna-molecule-on-mica.315.en.html
+ power
control
piezo
drive
AFM
image
PD
+
signal
can:lever
of
DNA
A/D
amplifier dynamics
atomic
forces
block
diagram sensor
(a
‘disturbance’)
=
can:lever
deflec:on
M.Cantoni (c) 2011, 2012 ELEN90055 Control Systems: Part I 12
General
structure
of
feedback
control
systems
...
noise load
disturbances
sensors
measured
system
outputs
noise
The
following
simpler
block
diagram
abstrac:on
is
frequently
used
to
model
feedback
control
systems
for
the
purpose
of
performance
analysis
and
design
di do
+ +
r + e u + + y
feedback
plant
_ compensator model
+
+ n
Sensor
noise
n
enters
the
loop
in
same
way
as
the
reference
r
!!!
how
can
the
system
output
follow
the
reference
AND
be
insensi1ve
to
sensor
noise?
M.Cantoni (c) 2011, 2012 ELEN90055 Control Systems: Part I 13
What
is
the
alternaLve
to
feedback
control?
d
_
feedforward
+
r + u plant + y
controller
f 1 ⇥◦⇤ f ⇥◦⇤
r + high
gain u y
plant
_ h⇥◦⇤
ŷ plant
model
f ⇥◦⇤
r + e u y
high-‐gain
_ plant
feedback
The
two
approaches
differ
in
terms
of
the
effects
of
disturbances
and
modelling
errors
feedback
can
provide
some
robustness
to
such
uncertainty
but
beware
...
high
loop-‐gain
can
lead
to
instability
and
sensor
noise
problems
M.Cantoni (c) 2011, 2012 ELEN90055 Control Systems: Part I 15
Important
observaLons
so
far
...
The
idea
of
feedback
finds
very
broad
applica:on
Feedback
involves
sensing
and
actua:on
for
control
Feedback
can
de-‐sensi1ze
a
system
to
uncertainty
in
the
components
and
the
opera:ng
environment
Integral
ac:on
and/or
large
loop-‐gain
can
result
in
good
equilibrium
behaviour:
rejec:on
of
unknown
disturbances
reference
regula:on
http://www.rubicon.com.au/
Feedback
can
also
lead
to
bad
behaviour
if
poorly
designed:
long
transients
instability
with
divergence
of
signals
sensi:vity
to
sensor
noise
To
properly
account
for
the
merits
and
limita:ons
of
feedback
control
in
the
design
of
a
system
we
need
an
appropriate
set
of
mathema1cal
tools
for
modelling
&
formula:ng
specifica:ons;
analyzing
performance;
and
controller
synthesis
Total
Channel
Control
(TCC)
this
subject
focuses
on
some
‘classical’
tools Rubicon
Systems
Australia
+
UniMelb
M.Cantoni (c) 2011, 2012 ELEN90055 Control Systems: Part I 16
By
the
end
you
should
be
able
to
...
Apply
fundamental
tools
for
the
study
of
linear
:me-‐invariant
dynamical
systems
Topics
include:
differen:al
equa:on
models;
step
response;
convolu:on
models;
transfer
func:ons;
:me-‐domain
interpreta:on
of
poles
and
zeros;
frequency
response;
Bode
plots
Chapters 3 and 4 of Goodwin, Graebe and Salgado (GGS) and Part II of slides
Most of this should be ‘review’ of material already seen in previous subjects
Assess
the
stability
and
performance
of
linear
:me-‐invariant
feedback
control
systems
in
terms
of
the
open-‐loop
characteris1cs
Topics
include:
closed-‐loop
sensi:vi:es;
closed-‐loop
stability;
root-‐locus
plots;
Nyquist
plots;
rela:ve
stability;
robustness
to
model
uncertainty;
fundamental
limita:ons;
the
internal
model
principle;
feedforward
compensa:on
Chapters 5, 8 and 10 of GGS and Part III of slides
Topics
include:
propor:onal
(P),
integral
(I),
lag
and
lead
(D)
compensa:on;
PID
control
and
empirical
tuning;
classical
loop-‐shaping;
polynomial
approaches
to
pole-‐placement
Chapters 6 and 7 of GGS and Part IV of the slides
Apply
techniques
for
dealing
with
actuator
constraints
(:me
permiQng
-‐
unlikely)
-‐
Chapter
11
GGS
M.Cantoni (c) 2011, 2012 ELEN90055 Control Systems: Part I 17