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EE 499 Notes 01
EE 499 Notes 01
AN INTRODUCTION
Contents
1. An Motion Control System
2. Purpose of Closed-Loop Control
3. Servo and Regulation Systems
4. Controller
5. How to Identify System
6. Summary
1. An Motion System
Plant: Input-output relationship (transfer function) may
vary uncertainties (including time-varying) and
Disturbances
Nominal Model G(s)=5/(s+1)
Actual Model G(s)=5.9/(s+1.3)
Sensor: output may be digital or analog. Its input: real
speed, its output: readable data of speed
Actuator: Its input: readable data of the voltage of the
power source.
Its output: voltage, with needed current
Decision Making: Controller
Analog Controller
Digital Controller
2. Purposes
Open-loop: speed varies with the motor and
load for a given drive voltage
Closed-loop: Compensates for the influence
of the variations in the motor and the load
(uncertainties and disturbances) on the
speed.
3. Types of Systems
Servo Systems: the desired speed (set-point)
changes fast. Major requirement: to follow the
changing set-point at an acceptable speed and
accuracy.
Regulation Systems: the desired speed does not
changes very fast. It may be constant. Major
concern: substantial uncertainties/disturbances and
high accuracy.
4. Controller
What does a controller do? Decides how to respond to the
observed difference between the measured speed and the
desired speed set-point.
How should the controller respond? Primarily based on
the model, which describes the relationship between the
input (voltage) and the output(speed) Robust
Control: also largely based on the uncertainties
An important Step in System Design: Find the model
(system identification)
Design: compromise between the uncertainties
/disturbance and the response speed.
5. How to Identify the System
Analyze the input-output data pairs to fit the parameters in
the used model (structure)
How to analyze and how to generate the data pairs for
analysis:
System Identification
SYSTEM IDENTIFICATION
INTRODUCTION
Contents
1. System
2. System Identification
3. Importance
4. Why Specific Techniques?
5. Example
6. Summary
1. System
System: an object in which variables of
different kinds interact and produce
observable signals
Control engineers views:
Process producing outputs from inputs
Outputs:
Inputs: manipulated to change the outputs
Disturbances:
2. System Identification
End products: empirical models of systems
Model: description of relationship among related
variables
Theoretical Models: from first principles
Empirical models:
Observations of system variables
==>Relationship among variables
==> Models linking the variables
3. Importance
Control algorithms & system dynamics
First principles
4. Why Specific Techniques?
- Model structure:
y t ay t bu t ( ) ( ) ( ) = + 1 1
- Given:
{ ( ), ( )},{ ( ), ( )},...,{ ( ), ( )} u y u y u N y N 1 1 2 2
- To determine:
a
and b
- Equation system
y ay bu
y ay bu
y
y
y u
y u
a
b
( ) ( ) ( )
( ) ( ) ( )
( )
( )
( ) ( )
( ) ( )
2 1 1
3 2 2
2
3
1 1
2 2
= +
= +
(
=
(
Problem:
y t ay t bu t e t ( ) ( ) ( ) ( ) = + + 1 1
a b
u y
u u
y y y
a b
e e e
y y y
a b
= =
= =
= =
= = =
= = =
= = =
0 95 2
0 0 0 0
1 1 2 12
1 0 2 2 3 4 3
0 95
1 01813 2 01205 3 0 3318
1 01813 2 2 0517 3 4 6809
. ,
( ) , ( )
( ) , ( ) .
( ) , ( ) , ( ) .
, : . ,
( ) . , ( ) . , ( ) .
( ) . , ( ) . , ( ) .
, : ,
2
1.2097 1.8324
5. Example
- Model Structure
y t ay t bu t e t ( ) ( ) ( ) ( ) = + + 1 1
- Given:
{ ( ), ( )},{ ( ), ( )},...,{ ( ), ( )} u y u y u N y N 1 1 2 2
- To determine:
a
and
b
- Prediction
( ) ( ) ( ) y t ay t bu t = + 1 1
- Prediction Error
y t y t y t ay t bu t ( )
( ) ( ) ( ) ( ) = 1 1
- Cost Function
J a b y t ay t bu t
t
N
( , ) { ( ) ( ) ( )} =
=
2
2
1 1
- Results
( )
( )
( )
...
( )
( ) ( )
( ) ( )
......
( ) ( )
a
b
y
y
y N
y u
y u
y N u N
T T
|
\
|
.
| =
|
\
|
.
|
|
|
|
=
|
\
|
.
|
|
|
|
u u u
u
1
2
3
1 1
2 2
1 1
for
y t ay t bu t e t ( ) ( ) ( ) ( ) = + + 1 1
6. Summary
Data Generation (Experiment Design)
Model Structure Determination
Parameters Estimation
Model Validation