lecture_25_n

lecture_25_n - MATLAB Example...

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ME 421 Mechanical Dynamics and Control Fall 2006, Lecture 24 Today’s topics (Secs. 10-6, 10-7) • Proportional-derivative (PD) control; • PD control with feedforward gain; • Prefilter design and its integration with PD control;
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Survey Results • More help on HW; • Project response; • Examples in class; • Calculator in Exams; • MATLAB examples;
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Concept of “type of the system”
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Type of the system
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Proportional-Derivative (PD) Control
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Proportional-Derivative (PD) Control
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Applications of PD Feedback Control • AFM (Active damping reduction of the probe); • Robotics; • Honeywell PD controller… • MATLAB, Labview…
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Method 1: PD-Control with Feedforward Gain
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Design of Prefilter for Steady-State Tracking
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MATLAB Example
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Extension: Prefilter + PD Feedback Control
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Homework 6 Discussion
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Method 2: PD-Control in the Forward Path
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Unformatted text preview: MATLAB Example I:\CourseWork\ME421_Fall06\Lecture\L_25_Exmp.m Page 1 November 14, 2006 9:46:10 AM %============================== % ME 421 FAll 2006 % Example of PD prefilter-design %============================== xi = 0.4; Kdc = 0.6; omega_n = 10; % The open loop system G_0 = tf([Kdc*omega_n^2], [1 2*xi*omega_n omega_n^2]); % Form the feedback system G_cl = feedback(G_0, 1); % Test the step and ramp response; My_Time = 0:1e-02:3; figure(1), subplot(221), step(G_cl); figure(1), subplot(222), lsim(G_cl, My_Time, My_Time); % Design the pre-filter K_d1 = (2*xi)/(Kdc*omega_n); K_p1 = 1+1/(Kdc); My_Filter = tf([K_d1 K_p1], 1); G_total = My_Filter*G_cl; figure(1), subplot(223), step(G_total); figure(1), subplot(224), lsim(G_total, My_Time, My_Time);...
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lecture_25_n - MATLAB Example...

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