Professional Documents
Culture Documents
·
negative feedback loop reacts to disturbances so as to decrease the
effectthey have
o
eg. 1. quadcopter vice
·
Positive Feedback loop reacts to disturbances to as to increase the
amps
he-melt
- >
/Fe
A controller:given measurement position
of y, compute enore,
update 4 to
try to reduce error
closed
*
loop A
open loop
Acts
A on deviation Acts
* on plans
Robust to model
* uncertainty a sensitive to model uncertainty
Risk ofinstability
* no
* risk for instability
sensitue
* to measurement Insensitive to
* measurement
noise house
-Plant:systems be
to controlled
-control
Input:signals we can
modify
-ourput:signals we want to control
*Inputs:
-> measurement of plant(from sensor (
eg:
1
heating a room
opening a door
or window
I
temp
sensor
quantisation
air may nothave uniform
-
temp,
systematic bias From location ofsensor
in the room
Basic arms
of control.
· stabilisation
large differences in
system behaviour
-
Am:deagn a controller to stabolise an unstable system.
Regulation
·
disturbances.
In
presence of
- and
Transient steady-state response
m y
the transient
resp.
is
ourpht (t)
*
Transient Response:how does error behave soon after a
steady. State
*
Response:How small is emort for larget?
Transfer Functions in a feedback
loop
simplied Feedback system model
·
Distrubance horse
controller
systems:
equations ((((DE)
plant
*
transfer Function:PIs)
controller transfer Funchon:(es)
A
A
Feedforward transfer funcion:FCS) Loften ECsI=1)
Areference w *
measurement y
disturbance
* v *Process output in retal
control
*
synal U
A
er ror t v
=
-
E r
= -
x
-
Arms of control
stabilization
* Disturbance
* rejecten
Robustness to model
Improving
* transcent response A
uncertainty
reference
*
tracking
Equivalent Transfer Funchous
·
-point of
view of angle output:(via linearity (
+
Gry(s) Viss +
GwyCS) WisI
-
point of
view angle
of input output pair:
Yess GryC)
=
RCSS
Approach:(via linearity
-
set all
A to except the of
inputs zero input interest
1.
Transfer Funchon From reference to output
Myin
YCs) PCs).=
Ucs1 PCSI. CCs). ECs)
=
Grycs)
I"s
=
2.
Transfer Funchon from disturbance
in error e
0 O
=
IIIII),
0
0
"I
=
L
mult by -1
Ecs=-Yess = -
Pass [Hass+Wass]
--Pass [CascEcsit Vass]
Eiss+ PasiCiscEcss=-PasiUcsI
Grecss-Ecs
3. Transfer Funchon From distrubance
v to error e
general form:
:
IM I
mutty See I
crestsin
Tee
~
-Pas
Performance specifications
· How does a test
aqual at an interest
inputof affect a
corresponding output
of interest?
·
Step response:output system
of when input is unit step
withthe E
Parameters:
*
Peak
* hme (Tp) 1a
carnal:
((t)
Settling
* time (Ts) &
Percentage overshoot:
e
Mp a
=
Response
·
sinusoidal
to
input
Frequency Response:Elitol
-
test agral.
Typical
·
-
observations;
Disturbances
*
-motrates
frequency response-based performance specification
-
Eg. constraints on
Free, resp. equivalent
of system
From
* disturbance to
output:
IEryciw) I should be small
for small w.
From
* noise
measurement to
output:
1 Eru(iw) I should be small large w.
for
Inputs:
-
outputs:
vector
* input w vector
* output z 6F
* control input U