Kendali Digital

Discrete Control Design

 Jawaban latihan
𝑈(𝑧) 𝑧 3 − 0.904𝑧 2 𝑧 −3 1 − 0.904𝑧 −1
𝐷 𝑧 = = × =
𝐸(𝑧) 0.095𝑧 3 − 0.095 𝑧 −3 0.095 − 0.095𝑧 −3

𝐸(𝑧) 𝑈(𝑧)
= 0.095 − 0.095𝑧 −3 = 1 − 0.904𝑧 −1
𝑅(𝑧) 𝑅(𝑧)

𝐸 𝑧 = 0.095𝑅 𝑧 − 0.095𝑧 −3 𝑅(𝑧) 𝑈 𝑧 = 𝑅 𝑧 − 0.904𝑧 −1 𝑅(𝑧)

1 𝑢 𝑘 = 𝑟 𝑘 − 0.904𝑟(𝑘 − 1)
𝑅 𝑧 = 𝐸 𝑧 + 𝑧 −3 𝑅(𝑧)
0.095
r(𝑘) u(𝑘)
𝑟 𝑘 = 10.5𝑒 𝑘 + 𝑟(𝑘 − 3) e(𝑘) 10.5 + +

Z-1 Z-1
e 𝑘 →𝑒 𝑟 𝑘 →𝑟 u 𝑘 →𝑢
Z-1
𝑟 𝑘 − 1 → 𝑟𝑚1
Z-1
𝑟 𝑘 − 2 → 𝑟𝑚2
𝑟 𝑘 − 3 → 𝑟𝑚3
FLOWCHART PROGRAM
 FLOWCHART PROGRAM
ISR
start

sk, yk
rm1=0
rm2=0
rm3=0 e = sk - yk
Inisialisasi timer interrupt r = 10.5*e + rm3
u = r + 0.904*rm1

rm1=r
Y rm2=rm1
Wait for rm3=rm2
ISR
interrupt
u
N
Return from
interrupt
 Dahlin Control Design
Input

• Modification of the Dead-Beat method.

• Exponential response which is more realistic
 Dahlin Control Design

1 𝑒 −𝑎𝑠
𝑌 𝑠 =
𝑠 1 + 𝑠𝑞

𝑇ൗ
𝑌(𝑧) 𝑧 −𝑘−1 1 − 𝑒 − 𝑞
𝑇 𝑧 = = 𝑇ൗ
𝑅(𝑧) 1 − 𝑒− 𝑞 𝑧 −1

Step response

−𝑇ൗ
1 𝑇(𝑧) 1 𝑧 −𝑘−1 1 − 𝑒 𝑞
𝐷 𝑧 = =
𝐻𝐺(𝑧) 1 − 𝑇(𝑧) 𝐻𝐺(𝑧) 1 − 𝑒 −𝑇ൗ𝑞 𝑧 −1 − 𝑧 −𝑘−1 1 − 𝑒 −𝑇ൗ𝑞
 Example
Given an open loop transfer function of a plant :
e 2s
G (s) 
1  10s
Design a Dahlin digital controller for the system. Assume that T  1 s.

Answer
The transfer function with zero - order hold (T  1) :
 1 
1  e  sT
HG ( z )  Z 


1  2 
G ( s)  1  z z Z 
1
  1  2 
  1 z z Z 
10   



 s   s1  10 s    s s  110 


HG ( z )  1  z 1
z 2 
z 1  e 0.1  z 3 1  e  0.1

0.095 z 3
z  1z  e  0.1
 1 e  0.1 1
z 1  0.0904 z 1
q  k 1 
T

 1  e  z
1 T ( z) 1  0.904 z 1  
D( z )   3
q  10; k  2
HG ( z ) 1  T ( z ) 0.095 z T
q 1 
T 
1  e z  1  e q  z  k 1

 
1  0.904 z 1 0.095 z 3 0.095 z 3  0.0858 z 2
D( z )  3 1 3

0.095 z 1  0.904 z  0.095 z 0.095 z 3  0.0858 z 2  0.009
 Direct noncanocical structure
n

U ( z)
a z
j 0
j
j

D( z )   n

b z
E( z) j
j
j 0
n n
U ( z ) b j z j
 E ( z ) a j z  j
j 0 j 0
n n
U ( z )  E ( z ) a j z j
 U ( z ) b j z  j
j 0 j 1
n n
uk   a j ek  j  b j uk  j
j 0 j 1

8
 Exercise 1
Given the transfer function of a digital controller :
1  2 z 1  4 z  2
D( z ) 
1  2 z 1  5 z  2
Draw the block diagram of the direct noncanocical realization of this controller

Answer
n2 n2
uk  a e
j 0
j k j  b u
j 1
j k j  a0 e(k )  a1e(k  1)  a2 e(k  2)  b1e(k  1)  b2 e(k  2)

a0  1 a1  2 a2  4 b0  1 b1  2 b2  5

9
 Exercise 2
Show the block diagram (realization) of the controller below!
1  3z -1
D(z) 
2  2 z 1

10
 Cascade realization
• Transfer function is implemented as a product
of first-order and second-order transfer
functions.
m
D( z )  P( z ) Qi ( z ) n odd n : order 
i 1
m
D( z )   Qi ( z ) n even
i 1

P(z ) : The first order transfer function

Q(z) : The second order transfer function
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First-order transfer function, P(z)
U ( z ) 1  z 1
P( z )  
E ( z ) 1  z 1

rk  ek  rk 1
u k  rk  rk 1

12
Second-order transfer function, Q(z)
U ( z ) a0  a1 z 1  a2 z 2
Q( z )  
E ( z ) 1  b1 z 1  b2 z  2

rk  ek  b1rk 1  b2 rk  2
u k  a0 rk  a1rk 1  a 2 rk  2

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 Example
Given a digital controller
3z  1z  2
D( z ) 
z 2  0.4 z  0.03
Use the cascade method to implement this controller!

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Answer

D( z ) 
3z  1( z  2)

  
3 1  z 1 1  2 z 1
 
z  0.1z  0.3 1  0.1z 1 1  0.3z 1 
𝑈(𝑧) 𝑈 (𝑧) 𝑅1 (𝑧) 𝑅2 (𝑧) 3 1 + 𝑧 −1 1 + 2𝑧 −1
= =
𝐸(𝑧) 𝐸 (𝑧) 𝑅1 (𝑧) 𝑅2 (𝑧) 1 + 0.1𝑧 −1 1 + 0.3𝑧 −1

𝑅1 (𝑧) 𝑅2 (𝑧) 𝑈 (𝑧) 3 1 + 𝑧 −1 1 + 2𝑧 −1

=
𝐸 (𝑧) 𝑅1 (𝑧) 𝑅2 (𝑧) 1 + 0.1𝑧 −1 1 + 0.3𝑧 −1

𝑅1 (𝑧) 3
= 𝑟1 𝑘 = 3𝑒 𝑘 − 0.1𝑟1 (𝑘 − 1)
𝐸 (𝑧) 1 + 0.1𝑧 −1

𝑅2 (𝑧) 1 + 𝑧 −1
= 𝑟2 𝑘 = 𝑟1 𝑘 + 𝑟1 𝑘 − 1 − 0.3𝑟2 (𝑘 − 1)
𝑅1 (𝑧) 1 + 0.3𝑧 −1

𝑈 (𝑧)
= 1 + 2𝑧 −1 𝑢 𝑘 = 𝑟2 𝑘 + 2𝑟2 (𝑘 − 1)
𝑅2 (𝑧)
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 𝑈(𝑧) 1 + 𝛼𝑧 −1
𝑃(𝑧) = =
𝐸(𝑧) 1 + 𝛽𝑧 −1

3 1 + 𝑧 −1 1 + 2𝑧 −1
𝐷(𝑧) =
1 + 0.1𝑧 −1 1 + 0.3𝑧 −1

𝑟2 𝑘 = 𝑟1 𝑘 + 𝑟1 𝑘 − 1 − 0.3𝑟2 (𝑘 − 1)

𝑟1 𝑘 = 3𝑒 𝑘 − 0.1𝑟1 (𝑘 − 1) 𝑢 𝑘 = 𝑟2 𝑘 + 2𝑟2 (𝑘 − 1)

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 Exercise
Given a digital controller

D( z ) 
1  0.6 z 1  2 z
1 1
 4 z 2 
1  0.4 z 1  0.1z
1 1
 0.3z  2 
Use the cascade method to implement this controller!

Answer

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 Parallel realization(1)
• The transfer function is factorized and written
as a sum of first-order and second-order
transfer functions: D( z )   0  D1 ( z )  D2 ( z )  ...  Dm ( z )

A. First - order transfer functions are of the form


D1 ( z ) 
1  z 1

rk  ek  rk 1
u k  rk
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 Parallel realization(2)
B. Second - order transfer functions are of the form
a1  a2 z 1
D2 ( z ) 
1  b1 z 1  b2 z  2

rk  ek  b1rk 1  b2 rk  2
u k  a0 rk  a1rk 1  rk  2
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 Example
Given a digital controller transfer function

D( z ) 
1  z 1  2 z 
1 1

1  3z 1  4 z 
1 1

Realize this tranfer function using first - order parallel transfer functions

Answer

D( z ) 
1  z 1  2 z   A
1 1

B
C
1  3z 1  4 z  1  3z
1 1 1
1  4 z 1
2 3 1
A B C
3 2 6

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Terima Kasih