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    Lecture 4 - Simple Design Problems: K. J. Åström

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    Edutam
    This document provides a summary of Lecture 4 on simple design problems. It discusses modeling systems as transfer functions, designing PI, PD, and PID controllers for first and second order systems. Key points covered include using pole placement to design controllers, the behavior of second and third order closed-loop systems, and using MATLAB to simulate and analyze control systems.

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    Lecture 4 - Simple Design Problems: K. J. Åström

    Uploaded by

    Edutam
    43 views7 pages
    This document provides a summary of Lecture 4 on simple design problems. It discusses modeling systems as transfer functions, designing PI, PD, and PID controllers for first and second order systems. Key points covered include using pole placement to design controllers, the behavior of second and third order closed-loop systems, and using MATLAB to simulate and analyze control systems.

    Original Description:

    Curso Analisis Dinamico Armstrong - Lecture 4

    Original Title

    Lecture 4

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    This document provides a summary of Lecture 4 on simple design problems. It discusses modeling systems as transfer functions, designing PI, PD, and PID controllers for first and second order systems. Key points covered include using pole placement to design controllers, the behavior of second and third order closed-loop systems, and using MATLAB to simulate and analyze control systems.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    43 views7 pages

    Lecture 4 - Simple Design Problems: K. J. Åström

    Uploaded by

    Edutam
    This document provides a summary of Lecture 4 on simple design problems. It discusses modeling systems as transfer functions, designing PI, PD, and PID controllers for first and second order systems. Key points covered include using pole placement to design controllers, the behavior of second and third order closed-loop systems, and using MATLAB to simulate and analyze control systems.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 7

    Lecture 4 - Simple Design Problems

    1. Introduction
    The role of abstractions

    K. J. strm

    Solve an abstract problem and you have the solution to


    many concrete problems
    But you must be able to translate!
    Technology transfer

    1. Introduction
    2. Control of First Order Systems
    3. Control of Second Order Systems
    4. Matlab
    5. Summary
    Theme: Solve simple design problems in a unified way.
    Dynamics of simple closed loop systems. Matlab.

    Standard process models in the form of transfer functions


    b
    b1 s + b2
    P ( s) =
    ,
    P ( s) = 2
    s+a
    s + a1 s + a2
    Essential that storage of mass, momentum and energy
    can be captured by a few parameter. Description of
    storage more complicated if variations are rapid.
    Moderate requirements of control performance

    A Simple Feedback Loop

    2. Control of First Order Systems


    Many systems are approximately of first order

    d
    r

    C ( s)

    P ( s)

    1
    Design controllers for the processes
    P ( s) =

    b
    ,
    s+a

    P ( s) =

    s2

    b1 s + b2
    + a1 s + a2

    The key is that the storage of mass, momentum and


    energy can be captured by one parameter
    Examples
    Velocity of car on the road
    Control of velocity of rotating system
    Electric systems where energy storage is essentially in
    one capacitor or on inductor
    Incompressible fluid flow in a pipe
    Level control of a tank
    Pressure control in gas tank
    Temperature in a body with essentially uniform temperature distribution (e.g. steam filled vessel)

    c K. J. strm August, 2001


    &

    A Simple Recipe

    PI Control of First Order Systems

    Transform the physical problem to a standard model e.g.


    P ( s) =

    Process transfer function

    b
    s+a

    P ( s) =

    Pick a controller e.g. PI


    C ( s) = k +

    b
    s+a

    Controller transfer function


    ki
    s

    C ( s) = k +

    Closed loop system is of second order

    ki
    s

    Closed loop transfer function from reference r to output y

    Design a controller where the closed loop characteristic


    equation has specified poles (pole placement)
    Translate results back to the physical system

    PC
    b( ks + ki)
    Y ( s)
    =
    = 2
    R( s )
    1 + PC
    s + (a + bk)s + bki

    Closed loop system of second order, PI controller has two


    parameters.

    Interpretation

    The Mass-Spring-Damper System

    Consider the equation


    Y ( s)
    PC
    b( ks + ki)
    =
    = 2
    R( s )
    1 + PC
    s + (a + bk)s + bki

    Rewrite it as
    (s2 + (a + bk)s + bki) Y (s) = b( ks + ki) R(s)
    Interpret in time-domain
    d2 y
    dy
    dr
    + (a + bk)
    + bki y = bk + bkir
    2
    dt
    dt
    dt

    The closed loop poles can be given arbitrary values. PI control


    sufficient.

    The differential equation for a mass-spring-damper system is


    given by
    d2 y
    dy
    m 2 +d
    + ky = 0
    dt
    dt
    It is useful to make an analogy with this system in order to
    understand second order systems

    c K. J. strm August, 2001


    &

    The Mass-Spring-Damper Analogy

    Behavior of Second Order System


    The system

    Closed loop control system


    d2 y
    dy
    dr
    + (a + bk)
    + bki y = bk + blir
    2
    dt
    dt
    dt

    G ( s) =

    02
    s2 + 2 0 s + 02

    d2 y
    dy
    m 2 +d
    + ky = 0
    dt
    dt

    has the step response = 0 (dashed), 0.1,


    0.2, 0.5, 0.707, 1 (dashed-dotted)

    Mass-spring-damper equation

    p
    0 1 2

    Integral gain ki gives spring action

    1.5

    Proportional gain k gives damping action

    0.5

    Behavior of Second Order System with a Zero


    

    The system with = 0.7

    0
    s + 0
    s2 + 2 0 s + 02

    G ( s) =

    12

    10

    15

    Behavior of Second Order System with a Zero


    0
    s + 0
    2
    s + 2 0 s + 02
    = 0.2, 0.5 1 (dashed), 2, 5 and .
    G ( s) =

    3
    2.5

    
    has the step response = 0.2, 0.5, 1 (dashed), 2, 5 and .
    3

    2
    1.5
    1
    0.5

    2.5

    2
    1.5

    0t
    5

    10

    Why do all curves intersect at the same point?

    The Audience is Thinking ...

    0.5
    0

    0t

    0t
    5

    10

    c K. J. strm August, 2001


    &

    3. Control of Second Order Systems

    PI Control of Second Order Systems

    Storage of mass, momentum and energy can be captured


    by two parameter
    Examples

    Process
    P ( s) =

    b1 s + b2
    + a1 s + a2

    Controller

    Position of car on the road


    Control of angle of rotating system
    Stabilization of satellites
    Electric systems where energy is stored in two elements (inductors or capacitors)
    Levels in two connected tanks
    Pressure in two connected vessels

    ki
    s
    Closed loop transfer function from reference r to output y
    C ( s) = k +

    ( ks + ki)(b1 s + b2)
    PC
    Y ( s)
    =
    = 3
    R( s )
    1 + PC
    s + (a1 + b1 k)s2 + (a2 + b1 ki + b2 k)s + b1 ki
    Closed loop system of third order, controller has only two
    parameters. Not enough degrees of freedom. A more complex
    controller is required to choose closed loop characteristic
    polynomial.

    Behavior of Third Order System

    PD Control of Second Order System

    The system with = 0.7

    Process

    b
    + a1 s + a2
    Notice that polynomial B is of zero degree. Controller
    P ( s) =

    03
    G ( s) = 2
    (s + 2 0 s + 02 )(s + 0 )
    has the step response = 0.2, 0.5, 1 (dashed), 2, 5 and .
    1.2

    s2

    C ( s) = k + k d s

    Closed loop transfer function from reference to output

    Y ( s)
    PC
    b( kd s + k)
    =
    = 2
    R( s )
    1 + PC
    s + a1 s + a2 + b( kd s + k)
    b( kd s + k)
    = 2
    s + ( a1 + bkd ) s + a2 + bk

    0.8
    0.6
    0.4
    0.2
    0

    s2

    0t
    5

    10

    Closed loop system of second order, controller has two parameters. All closed loop poles can be chosen.

    c K. J. strm August, 2001


    &

    PD Control of Second Order System ...


    The closed loop transfer function

    Solution
    The controller with error feedback

    Y ( s)
    PC
    b( kds + k)
    =
    = 2
    R( s )
    1 + PC
    s + a1 s + a2 + b( kds + k)

    U (s) = kE(s) kd sE(s)

    gives

    The zero s = k/ kd may cause a considerable overshoot if it is


    closer to the origin than the dominant poles.
    This zero is caused by the controller. Can the controller be
    modified so that the zero is changed or removed?

    Y ( s)
    PC
    b( kds + k)
    =
    = 2
    R( s )
    1 + PC
    s + a1 s + a2 + b( kds + k)

    But the controller to


    U (s) = kE(s) kdsY (s) = kR(s) ( k + kds) Y (s)

    The Audience is Thinking ...


    r

    gives

    k + kd s

    Y ( s)
    k
    = 2
    R( s )
    s + ( a1 + k d ) s + a2 + k

    Controller with Two Degrees of Freedom


    The controller
    U (s) = kE(s) kdsY (s) = kR(s) ( k + kd s) Y (s)

    Block Diagram Representations


    System with error feedback
    r
    e
    u
    k + kd s

    is said to have two degrees of freedom because the signal path


    from reference R to control U is different from signal path from
    output Y to control U . Derivative acts only on the output.
    We will talk a lot about this later.

    y
    P

    1
    Controller with two degrees of freedom
    r
    e
    u
    k

    kds

    1
    c K. J. strm August, 2001
    &

    PID Control of Second Order System


    Process: P(s) =

    s2

    b
    + a1 s + a2

    Analysis and design of control system has been drastically


    influenced by good computational tools. A sensible approach:

    ki
    + kd s
    s
    Closed loop transfer function from reference r to output y

    Controller: C(s) = k +

    Y ( s)
    PC
    b( kd s2 + ks + ki )
    =
    =
    2
    R( s )
    1 + PC
    s( s + a1 s + a2 ) + b( kd s2 + ks + ki )

    s3

    4. Computational Tools

    b( kd s2 + ks + ki )
    + ( a1 + bkd ) s2 + ( a2 + bk) s + bki

    Construct a block diagram


    Derive the transfer functions for the blocks
    Calculate transfer functions between interesting signals
    Explore transfer functions qualitatively
    Use Matlab to simulate the responses of the system
    Can be done in many ways

    Closed loop system of third order, controller has three parameters. All closed loop poles can be chosen arbitrarily. Since the
    zeros comes from the controller they can also be chosen arbitrarily by choosing a structure with two degrees of freedom!

    Matlab

    Polynomials

    Matlab was designed as an interactive calculator for matrices.


    The matrix
    
    
    1 2 3
    M=
    4

    is represented as

    Polynomials are represented in the same way as matrices. The


    polynomial
    A(s) = s3 + 2s2 + 3s + 4
    is represented as
    A=[1 2 3 4]

    M=[1 2 3;4 5 6]
    There are many operations for matrices. Use the command
    help matrices to find out more about them.

    The matrix operations also apply to polynomials (overloading,


    polymorphism). There are also special operations for polynomials, for example roots(A) give the roots of the polynomial.

    c K. J. strm August, 2001


    &

    Transfer Functions

    Generating Step Responses

    When polynomials are available it is also possible to represent


    transfer functions that are rational functions. The transfer
    function
    s+2
    P ( s) = 2
    s + 5s + 6
    is represented as
    P=tf([1 2],[1 5 6])
    The regular operations of addition, multiplication and division
    also apply to transfer functions (overloading, polymorphism).

    t=0:0.1:6.5*pi;
    z=0;
    sys=tf(1,[1 2*z 1]);
    y0=step(sys,t);
    z=0.1;
    sys=tf(1,[1 2*z 1]);
    y1=step(sys,t);
    ...
    plot(t,y0,r--,t,y1,b-)
    axis([0 15 0 2])
    xlabel(x)
    ylabel(y)

    A Slick Way to Work with Systems

    %Generate plotting times


    %Set damping parameter
    %Generate system sys
    %Calculate step response
    %Change damping parameter
    %Generate system
    %Generate step response
    %Plot results
    %Give lengths of axes
    %Add labels
    %Add labels

    Summary

    Transfer functions is a natural interface to Matlab. Here is one


    way to compute responses.

    Draw block diagram

    s=tf([1 0],1)
    P=1/(s*(s+2))
    C=2+1/s
    T=P*C/(1+P*C)

    Select a controller of sufficient flexibility (complexity)

    step(T)
    tzero
    pole(T)

    %Define the transfer function s


    %Define process transfer function
    %Define the controller transfer function
    %Compute transfer function from
    %reference to output
    %Compute and plot the step response
    %Compute zeros of the transfer function
    %Compute poles of the transfer function
    %Notice that there are cancellations

    This is perhaps the most natural way to work with transfer


    functions, but may be dangerous because Matlab is not smart
    enough to recognize cancellations of poles and zeros.

    Obtain simple process model


    Derive the closed loop characteristic equation
    Pick controller parameters to give desired characteristic
    polynomial (pole placement). Typical prototypes:
    s2 + 2 0 s + 02
    (s2 + 2 0 s + 02)(s + 0 )

    Behavior of second and third order systems


    The effect of poles and zeros
    Some zeros are due to the controller, they can be modified
    or eliminated if the controller has two degrees of freedom.

    c K. J. strm August, 2001


    &

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