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Examples of control systems: heating control of living spaces speed control of electrical drives position control of robotic arms and endeffectors active damping of vibrations in mechatronic systems power control of turbines, voltage control of generators Controlled systems differ one from another, in spite of this they have some common properties: controlled objects are dynamic systems the range of available adjustments is constrained uncertainty characteristics of controlled objects unknown disturbances measurements are noisy
Steam engine
Flyball governor
http://www.heeg.de/~roland/SteamEngine.html
Actuate
Gas Pedal
Sense
Vehicle Speed
Compute
Control Law Goals y Stability: system maintains desired operating point (hold steady speed) y Performance: system responds rapidly to changes (accelerate to 65 mph) y Robustness: system tolerates perturbations in dynamics (mass, drag, etc)
r ... reference value, control input u ... controlling variable, power input y ... output, controlled variable z ... disturbance System without feedback An example: AC drive; speed of the motor varies by variable stator frequency
Advantage of feedback systems: compensates uncertainty of the controlled object compensates disturbances To close the feedback we need sensors: position sensors: incremental encoder, resolver speed sensor: tachogenerator torque sensor: tensometer temperature sensor: thermometer, posistor
Resolver
Encoder
Tachogenerator
Tensometer
Differential equations
n order of the differential equation (order of the dynamic system) y output r input ai ,bi .. real constants
[Example (1) from the textbook]
Solution-methods of linear differential equations analytical methods numeric methods applying Laplace transformation
Numeric slution: 1. decomposition of a n-th order differential equation into the system of n first order differential equations 2. applying some numeric method: Euler's, Runge/Kutta..
[Example (2) from the textbook]
Laplace transformation converts the differential equation into an algebraic equation with complex variable s If all initial conditions are zero, then
Mechanical system
Electrical system
[ Example in MATLAB]
SIMULINK: graphical integration of diff. equations di/dt 167 1/L -KR 2.88 k dw /dt -Kk/J 1 s Integrator1 w dw /dt=k/J*i 1 s Integrator Proud k..machine constant i di/dt=1/L*(U-Ri-kw )
U 30 Constant
speed