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course overview - MeEn 431 – ECEn 483 Design of...

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Unformatted text preview: MeEn 431 – ECEn 483 Design of Control Systems Instructor: Tim McLain office: 435A CTB phone: 422 ­6537 (wk) 765 ­4512 (hm) e ­mail: [email protected] office hours: Tuesday 3 ­4 p.m. Wednesday 9 ­10 a.m. Friday 9 ­10 a.m. Other times by appointment Teaching Assistants: Brandon Cannon, [email protected] Peter Jepsen, [email protected] Raj Sharma, [email protected] Mark Owen, [email protected] Rob Leishman, [email protected] Text: Feedback Control of Dynamic Systems, 6th. ed., Franklin, Powell, and E. ­Naeini Prerequisites: ECEn 380 or MeEn 335 COURSE POLICIES • Grading: homework 20% labs 25% mid ­term exams 30% final exam 25% Petitions for regrading must be made within one week of return date. • Late Work: Late homework will not be accepted. Late lab work will be penalized 10% for each day that it is late. • Matlab: We will be using Matlab a lot in this class. If you have an account on the CAEDM or ECE system, you will have access to Matlab in the computer labs. • Use of e ­mail: I will make use of the Blackboard class email list. This list uses the email address that you have specified. General class announcements, additions, modifications, and hints to homework and lab assignments will be emailed directly to each student. Each student is responsible for checking his/her email on a regular basis. • Teamwork: Working together on homework in small teams of 2 or 3 students is encouraged. Such team efforts should include discussion of the problems assigned and the important concepts involved. Remember — the goal is learning, and discussion facilitates the achievement of this goal. Copying (cheating) does not! Though team efforts are encouraged, students must write out their solutions individually. • Web page: I will use Blackboard for posting grades and course materials online. You may access the MeEn 431 page by going to http://blackboard.byu.edu and logging in using your Net ID and Route Y password. • Labs: Walk ­in lab exercises will be held in Room 280 of the Fletcher Building. You will work on the labs alone or with a partner. To complete the lab assignments, you will need to pass them off with a TA. To receive credit, you will need to be present for and participate in the pass off. • Class Schedule: We will meet daily. Monday, Wednesday, and Friday classes will be lectures on feedback control. Tuesday will be a lecture or help session devoted to the lab. Thursday will be a homework help session. • Homework and Lab Due Dates: Homework will be due on Friday of the week that it is assigned at 4:45 p.m. Homework can be submitted in class or turned into the box in the hallway outside of the ME office (445 CTB). Labs must be completed by Tuesday morning at 11:00 a.m. on the same week that the next lab starts. COURSE OUTLINE Week 8/30 9/7 Reading Ch. 1, Ch. 2 Ch. 2, Ch. 3 Homework 2.5, 2.8, 2.9 Lab Lab 1: MATLAB animation 9/13 9/20 Topic Introduction to feedback control Introduction to feedback control, modeling review Linearization, dynamic response, MATLAB intro. Properties of feedback, performance criteria Ch. 3 Ch. 4 3.14*, 3.17*, 3.20, 3.22 3.24, 3.25, 3.28, 3.29* 9/27 PID control, Digital control implementation Ch. 4 3.30, 4.13, 4.14(a)(b), 10/4 s ­plane analysis and design Ch. 5 4.16, 4.26, 4.29 10/11 10/18 Root ­locus design method Root ­locus design Mid ­term Exam #1 Frequency response review Frequency ­domain analysis and design Frequency ­domain analysis and design State ­space design Mid ­term Exam #2 State ­space design, full ­state feedback Thanksgiving Holiday Week Class held on M and Tu only State ­space design, estimator design Ch. 5 Ch. 5 5.26, 5.27 5.31, 5.37 Lab 2: Simulink S ­functions Lab 3: Whirlybird simulation Lab 4: Whirlybird design models Lab 5: Design specifications Lab 6: PID control design Ch. 6 Ch. 6 Ch. 6 Ch. 7 6.31*, 6.50, 6.56* 6.49, 6.58* Lab 7: Loopshaping design Lab 8: Full ­state feedback Ch. 7 7.22*, 7.24 Ch. 7 7.45, 7.48(a)(b)(c)(d)* Lab 9: State estimation using EKF 10/25 11/1 11/8 11/15 11/22 11/29 12/6 State ­space design, Kalman filters Ch. 7 12/13 Final Exam (Monday, 2:30 p.m.–5:30 p.m.) *Corrections, modifications, and hints to the problems are provided on the following page. Homework Problem Statement Modifications 3.14. The equations of motion for the tape ­drive system are given by J1ω 1 = − B1ω 1 + kt I a + Br1 ( x 2 − x1 ) + kr1 ( x 2 − x1 ) J 2ω 2 = − B2ω 2 + Fr2 + Br2 ( x1 − x 2 ) + kr2 ( x1 − x 2 ) x1 = r1ω 1 x 2 = r2ω 2 Use Matlab to compute the required transfer function and pole/zero locations. 3.17. First consider the transfer function G(s) = 3 s + 2s + 3 2 . Do parts (a) and (b), then repeat with the transfer function specified in the problem statement. 3.29. Rephrase the problem statement to read: Relax the constraints on Mp and tp by the same factor and select a suitable value of K to show that the relaxed constraints are satisfied. Verify in Matlab. 6.31. Part (c) can be restated as: What is the steady ­state error to a ramp input when the gain K is set for PM = 45°. Give your answer in terms of ess. 6.56. Hint: The compensator alone is to have unity DC gain. 6.58. On part (c), change the problem statement to read: Place the zero of the lag compensator at 3.16 rad/s, and determine the pole location that will maintain the crossover frequency at 31.6 rad/s. 7.22. Introduce the reference input using equations 7.100 ­7.102. 7.48. Do parts (a)–(d) only. For the system you design, plot the response of the states to a 10 m/sec step in horizontal velocity u. To introduce the reference velocity, use equations (7.191a) and (7.193) with N = N u + KN x and Nu and Nx determined from equation (7.100). OBJECTIVES: Knowledge and Comprehension. Students should know and understand the basic facts, definitions, technical terms, and design criteria pertaining to the analysis and design of control systems. Students should also be able to recall basic methods, procedures, and theories relevant to the field. Comprehension of such ideas involves sufficient understanding to be able to explain them in your own words. By the end of the course, terms and methods such as rise time, settling time, steady ­state error, stability, regulation, tracking, PID control, lead compensation, root ­locus design, frequency ­domain design, state ­space design, estimator, and many others should have meaning and significance to you. Analysis. Students should be able to apply basic methods, procedures, and theories to analyze the performance of a dynamic system under feedback control. This capability involves, at its simplest level, the ability to solve straightforward, single ­step homework problems. Application of methods and procedures to more advanced problems will require the ability to break the complex problem down into simpler, more easily solved problems which can be solved in a sequence of steps. The most difficult problems that you will face will involve the analysis of systems made up of real hardware. For such systems, the ability to discern what is most important and what can be neglected is often of great significance. Synthesis. Students should be able use to their knowledge and analytical skills to design controllers for dynamic systems so that desired objectives are achieved. This synthesis process is often difficult for students because there is seldom a “right” answer — but rather a continuum of answers from ranging from horrible to excellent. You will not only develop the skill to differentiate between a good and bad design, but will also be able synthesize good control system designs in the context of the specified performance criteria (which are often conflicting) for a particular system. As a demonstration of your design skills, you will design a controller for a real system and demonstrate the ability to control it according to performance criteria that you develop. ...
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This note was uploaded on 03/26/2012 for the course MEEN 431 taught by Professor Timmclainrandybeard during the Fall '10 term at BYU.

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