ece580 lecture 08

ece580 lecture 08 - Lecture 8 ECE 580 Feedback Control...

Info iconThis preview shows pages 1–12. Sign up to view the full content.

View Full Document Right Arrow Icon
Sept. 29, 2011 Feedback Control Systems (I) © Douglas Looze 1 Lecture 8 ECE 580 Feedback Control Systems (I) MIE 444 Automatic Controls Doug Looze
Background image of page 1

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

View Full DocumentRight Arrow Icon
Sept. 29, 2011 Feedback Control Systems (I) © Douglas Looze 2 Announce Ø PS 3 due today Ø Next PS next week
Background image of page 2
Sept. 29, 2011 Feedback Control Systems (I) © Douglas Looze 3 Last Lecture - ( 29 D s ( 29 G s ( 29 Y s ( 29 U s ( 29 R s ( 29 E s ( 29 o W s ( 29 N s Ø Proportional-plus-Integral Controller Combine elements (add responses) I k s p k ( 29 E s ( 29 U s ( 29 D s ( 29 ( 29 ( 29 0 t p I u t k e t k e d σ = + ( 29 ( 29 I p k U s k E s s = + PI Controller
Background image of page 3

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

View Full DocumentRight Arrow Icon
Sept. 29, 2011 Feedback Control Systems (I) © Douglas Looze 4 Ø Derivative element ( 29 ( 29 D u t k e t = & ( 29 ( 29 D U s sk E s = Note: improper Implement ( 29 ( 29 1 dominant poles D D D sk U s E s T s T τ = + = Effect Add damping to system Make stabilization easier Increases control amplitude
Background image of page 4
Sept. 29, 2011 Feedback Control Systems (I) © Douglas Looze 5 Today Ø PID controllers Ø System type Ø Reading FPE 4.2, 4.3
Background image of page 5

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

View Full DocumentRight Arrow Icon
Sept. 29, 2011 Feedback Control Systems (I) © Douglas Looze 6 Ø Proportional-Integral-Derivative (PID) Control What if we also want zero steady-state response? Add integrator I k s p k D k s ( 29 E s ( 29 U s ( 29 D s ( 29 ( 29 ( 29 ( 29 0 t p I D u t k e t k e d k e t σ = + + & ( 29 ( 29 I p D k U s k k s E s s = + + ( 29 I p D k D s k k s s = + +
Background image of page 6
Sept. 29, 2011 Feedback Control Systems (I) © Douglas Looze 7 Ø Example: DC motor position PID control - ( 29 G s I p D k k k s s + + ( 29 Y s 1 s ( 29 I p D k D s k k s s = + + ( 29 ( 29 1 m m k G s s s τ = + Closed-loop transfer function ( 29 ( 29 ( 29 cl Y s G s W s = ( 29 ( 29 1 1 1 m m m I p D m k s s k k k k s s s s + = + + + ÷ + ( 29 U s ( 29 2 1 m s s + g
Background image of page 7

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

View Full DocumentRight Arrow Icon
Sept. 29, 2011 Feedback Control Systems (I) © Douglas Looze 8 ( 29 ( 29 3 2 1 m cl m D m p m I m k s G s s k k s k k s k k τ = + + + + Proportional, integral and derivative gains affect different terms in characteristic polynomial Can use RH to specify parameter regions for stability Use insights from effects of elements to select initial parameters Use insights to iteratively improve parameters
Background image of page 8
Sept. 29, 2011 Feedback Control Systems (I) © Douglas Looze 9 0 2 4 6 8 10 12 -0.1 -0.05 0 0.05 0.1 0.15 0.2 0.25 Step Response Time (sec) Amplitude k i = 0 k i = 0.5 k i = 2 k i = 4 k i = 10 5 2 p D k k = =
Background image of page 9

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

View Full DocumentRight Arrow Icon
Sept. 29, 2011 Feedback Control Systems (I) © Douglas Looze 10 0 2 4 6 8 10 12 -0.1 -0.05 0 0.05 0.1 0.15 Step Response Time (sec) Amplitude k d = 2 k d = 4 k d = 10 k d = 15 5 10 p I k k = =
Background image of page 10
Sept. 29, 2011 Feedback Control Systems (I) © Douglas Looze 11 0 2 4 6 8 10 12 -0.06 -0.04 -0.02 0 0.02 0.04 0.06 0.08 0.1 0.12 Step Response Time (sec) Amplitude k p = 5 k p = 10 k p = 15 k p = 20 4 10 10 D I p k k k = = = 0 2 4 6 8 10 12 -0.06 -0.04 -0.02 0 0.02 0.04 0.06 0.08 0.1 0.12 Step Response Time (sec) k p
Background image of page 11

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

View Full DocumentRight Arrow Icon
Image of page 12
This is the end of the preview. Sign up to access the rest of the document.

This document was uploaded on 02/22/2012.

Page1 / 37

ece580 lecture 08 - Lecture 8 ECE 580 Feedback Control...

This preview shows document pages 1 - 12. Sign up to view the full document.

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