lecture_26

lecture_26 - Quiz 6 11/16/06 10:45 AM C:\Documents and...

Info iconThis preview shows pages 1–15. Sign up to view the full content.

View Full Document Right Arrow Icon
ME 421 Mechanical Dynamics and Control Fall 2006, Lecture 26 Today’s topics (Secs. 10-5 to 10-7) • PID control; • PID controller tuning; • Concept of model reduction;
Background image of page 1

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
Design of Prefilter for Steady-State Tracking
Background image of page 2
Extension: Prefilter + PD Feedback Control
Background image of page 3

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
Method 2: PD-Control in the Forward Path
Background image of page 4
Proportional-Derivative-based Feedback Control
Background image of page 5

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
Proportional-Derivative-Integral (PID) Control
Background image of page 6
Proportional-Derivative-Integral (PID) Control
Background image of page 7

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
Tunning of PID Control Parameters
Background image of page 8
Tunning of PID Control Parameters
Background image of page 9

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
Tunning of PID Control Parameters
Background image of page 10
Concept of Model Reduction
Background image of page 11

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
Model Reduction Method—Transfer function Viewpoint
Background image of page 12
Background image of page 13

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
Background image of page 14
Background image of page 15
This is the end of the preview. Sign up to access the rest of the document.

Unformatted text preview: Quiz 6 11/16/06 10:45 AM C:\Documents and Settings\Qingz. ..\L_26_Exmp.m 1 of 1 %============================== % ME 421 FAll 2006 % Example of PD prefilter-design %============================== Num = 100*[1 1] Den_1 = conv([1 2 6], [1 2]) Den_2 = conv(Den_1, [1 20]) G_o = tf(Num, Den_2) G_s = tf(Num, Den_1) K_dc_o = dcgain(G_o) K_dc_s = dcgain(G_s) G_s = (K_dc_o/K_dc_s)*G_s figure(1), step(G_o), hold on, step(G_s) 1 2 3 4 5 6 0.1 0.2 0.3 0.4 0.5 0.6 0.7 Step Response Time (sec) Amplitude...
View Full Document

Page1 / 15

lecture_26 - Quiz 6 11/16/06 10:45 AM C:\Documents and...

This preview shows document pages 1 - 15. Sign up to view the full document.

View Full Document Right Arrow Icon
Ask a homework question - tutors are online