ece580 lecture 09

ece580 lecture 09 - Lecture 9 ECE 580 Feedback Control...

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Oct. 4, 2011 Feedback Control Systems (I) © Douglas Looze 1 Lecture 9 ECE 580 Feedback Control Systems (I) MIE 444 Automatic Controls Doug Looze
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Oct. 4, 2011 Feedback Control Systems (I) © Douglas Looze 2 Announce Ø PS 4 available Due Oct. 13
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Oct. 4, 2011 Feedback Control Systems (I) © Douglas Looze 3 Last Lecture Ø PID Controllers I k s p k D k s ( 29 E s ( 29 U s ( 29 D s ( 29 I p D k D s k k s s = + + 1 1 p D I k T s T s = + + ÷ Proportional gain Integral gain Derivative gain Integration time Differentiation time 1 I T s D T s p k ( 29 E s ( 29 U s ( 29 D s
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Oct. 4, 2011 Feedback Control Systems (I) © Douglas Looze 4 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 -0.5 0 0.5 1 1.5 2 Time (s) Normalized Control Element Output Proportional Integral Derivative Ø P element Affect total loop gain I element Slows initial response Reduces long term error D element Speeds initial response Increased oscillation
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Oct. 4, 2011 Feedback Control Systems (I) © Douglas Looze 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 Time (s) Normalized Control Output P PD D T
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Oct. 4, 2011 Feedback Control Systems (I) © Douglas Looze 6 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 Time (s) Normalized Control Output P PI 1 s l o p e I T =
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Oct. 4, 2011 Feedback Control Systems (I) © Douglas Looze 7 Ø Implementation in loop ( 29 PID D s ( 29 G s ( 29 r t - ( 29 e t ( 29 u t ( 29 y t ( 29 w t t 1 ( 29 r t ( 29 u t t Preferred 1 1 I T s + ( 29 G s p k D T s ( 29 r t - ( 29 e t ( 29 u t ( 29 y t ( 29 w t - t 1 ( 29 r t
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Oct. 4, 2011 Feedback Control Systems (I) © Douglas Looze 8 Ø System type summary Type Step Ramp Quadratic Steady-State Error 0 1 2 0 0 0 1 1 P K + 1 V K 1 A K Position constant Velocity constant Acceleration constant
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Oct. 4, 2011 Feedback Control Systems (I) © Douglas Looze 9 Ø Example: Satellite attitude control Satellite attitude model 2 1 Js ( 29 p U s ( 29 Y s ( 29 U s ( 29 W s where satellite attitude total torque applied to satellite commanded torque applied to satellite disturbance torque applied to satellite p y u u w
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Oct. 4, 2011 Feedback Control Systems (I) © Douglas Looze 10 PD control 2 1 Js p k D T s ( 29 R s ( 29 E s ( 29 W s ( 29 Y s - - System type w/r reference Simplify architecture using bock diagram manipulation
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Oct. 4, 2011 Feedback Control Systems (I) © Douglas Looze 11 2 1 Js p k D T s 1 p k ( 29 R s ( 29 E s ( 29 W s ( 29 Y s - - ( 29 2 2 1 p D p D k Js G s k T s Js = + 2 2 Js Js g 2 p p D k Js k T s = + ( 29 D G s
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Oct. 4, 2011
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ece580 lecture 09 - Lecture 9 ECE 580 Feedback Control...

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