Black Boxes & White Noise - Automatic Control · 2012-09-28 · Servomechanism Theory Foundations...
Transcript of Black Boxes & White Noise - Automatic Control · 2012-09-28 · Servomechanism Theory Foundations...
LUND INSTITUTE OF TECHNOLOGY
Black Boxes & White NoiseBlack Boxes & White NoiseThe Evolution of Automatic Control
K. J. Åström
Lund Institute of TechnologyLund, Sweden
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1. Introduction2. Early Ideas3. A Discipline Emerges4. The Second Wave5. Conclusions
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LUND INSTITUTE OF TECHNOLOGY
LUND INSTITUTE OF TECHNOLOGY
LUND INSTITUTE OF TECHNOLOGY
LUND INSTITUTE OF TECHNOLOGY
LUND INSTITUTE OF TECHNOLOGY
LUND INSTITUTE OF TECHNOLOGY
LUND INSTITUTE OF TECHNOLOGY
LUND INSTITUTE OF TECHNOLOGY
LUND INSTITUTE OF TECHNOLOGY
LUND INSTITUTE OF TECHNOLOGY
LUND INSTITUTE OF TECHNOLOGY
LUND INSTITUTE OF TECHNOLOGY
LUND INSTITUTE OF TECHNOLOGY
LUND INSTITUTE OF TECHNOLOGY
Natural Science and Engineering ScienceNatural Science and Engineering ScienceMany similarities but also differencies
Natural PhenomenaAnalysis
Isolate phenomenaSimplicityBasic laws
Technical SystemsSynthesisInteractionComplexity
System principles
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1.1.1. IntroductionIntroductionIntroduction2. Early Ideas3.3.3. A Discipline EmergesA Discipline EmergesA Discipline Emerges4.4.4. The Second WaveThe Second WaveThe Second Wave5. 5. 5. ConclusionsConclusionsConclusions
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Industrial Process ControlIndustrial Process Control
Windmills Mead 1787
Steam enginesWatt, Boulton 1788Maxwell 1868Routh 1875
Water turbinesStodola 1893Hurwitz 1895
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Accuracy & StabilityAccuracy & Stability
PID Control
u (t ) = k( t ) + e (s)ds +Tddedt∫
HoneywellTaylor InstrumentLeeds & NorthrupFoxboro
e ( ITi
t
o)
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Flight ControlFlight ControlThe Wright Brothers 1903
Sperry 1912
Fully Automatictransatlantic flight 1947
Apollo 1969
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Minorsky 1922Minorsky 1922
It is an old adage that a stable ship is difficult to steer.
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TelecommunicationTelecommunication
SYSTEM DATECHANNELS
PER PAIRLOSS IN DB
(3000 MI)REPEATERS
(3000 MI)
1st Transcontinental 1914 1 60 3–6
2nd Transcontinental 1923 1–4 150–400 6–20
Open Wire Carrier 1938 16 1000 40
Cable Carrier 1936 12 12000 200
First Coaxial 1941 480 30000 600
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The Feedback AmplifierThe Feedback Amplifier
V2V1
= −R2R1
⋅1
1+ 1A
1+R2R1
⎛
⎝ ⎜
⎞
⎠ ⎟
–A
R1
2R
V21V
Black's patent 1928
Granted 1937
“Singing” = Instability
Nyquist 1932
Bode 1945Network Analysis andFeedback Amplifier Design
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1.1.1. IntroductionIntroductionIntroduction2.2.2. Early IdeasEarly IdeasEarly Ideas3. A Discipline Emerges4.4.4. The Second WaveThe Second WaveThe Second Wave5. 5. 5. ConclusionsConclusionsConclusions
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Industrial Process ControlTelecommunications
Flight ControlMathematics
PrinciplesTheory
Design MethodologyApplications
A Discipline EmergesA Discipline Emerges
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War PressuresWar Pressures
National Defense Research CommitteeMIT Radiation LaboratoryMIT Servomechanism LaboratoryMIT Instrumentation LaboratoryMIT Lincoln Laboratory
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The Black Box ConceptThe Black Box Concept
OutputInput
AbstractionInformation hiding
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The Black Box View ofThe Black Box View ofDynamical SystemDynamical System
LinearitySuperpositionSinusoidsOne pair sufficies
Input Output
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2
0
–2
0 180° 360°
aϕ
The Notion of Transfer FunctionThe Notion of Transfer Function
u y
G
G (s ) =L y{ }L u{ }
(s ) = e−stg (t )dt = L (g)0
∞
∫
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System PrinciplesSystem PrinciplesFeedforward Feedback
Combination
FF Process
FB Process
–1
Σ ΣProcess
FB Process
–1
Σ
FF
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Two ParadigmsTwo Paradigms
Feedback
Open loopActs only on deviationsMarket drivenUnmeasurable disturbanceLess accurate model
Feedforward
Closed loopAct before deviations occurPlanningMeasurable disturbanceAccurate model
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Servomechanism TheoryServomechanism Theory
FoundationsComplex variablesLaplace transforms
System ConceptsFeedbackFeedforward
Design methodologyFrequency responseGraphical methods
Analog simulation
Implementation
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ConsequencesConsequences
EducationApplicationIndustrialization
OrganisationJournalsConferences
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1.1.1. IntroductionIntroductionIntroduction2.2.2. Early IdeasEarly IdeasEarly Ideas3.3.3. A Discipline EmergesA Discipline EmergesA Discipline Emerges4. The Second Wave5. 5. 5. ConclusionsConclusionsConclusions
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The Second WaveThe Second Wave
Feedback from applicationsChallenging problemsNew technologyNew ideas
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Key ElementsKey Elements
Reexamination of fundamentalsVital interaction with other disciplinesTheory to match new technology
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Two views of Dynamical SystemsTwo views of Dynamical Systems
External DescriptionElectrical engineeringInput/OutputBlack Box
Internal descriptionsMechanical EngineeringThe notion of state
y = g (x,u)
dxdt
= f (x,u)
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““Modern” Control TheoryModern” Control Theory
Optimal controlComputer controlStochastic controlRobust control
CACESystem identificationAdaptive controlIntelligent control
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Optimal ControlOptimal Control
EulerLagrangePontryaginHamiltonJacobiBellman
1707–17831736–181319621805–18651804–18511957
ATTITUDE AND THRUST CONTROL€ Swivel Outer Four Engines
€ Optimum to Desired End Conditions
€ Inertial Updating of Position and Velocity
GUIDANCE – SATURN
NAVIGATION
SII STAGEFive J-2 Engines
2, 500, 000N Thrust
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Modeling DisturbancesModeling Disturbances
Power spectraWhite noiseInnovations
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Stochastic Control TheoryStochastic Control Theory
Filtering and prediction
Merger of calculus ofvariations and theory ofrandom processes
Decision making underuncertainty
Industrial process control
••
•
•
Probability density
Set point for regulatorwith low variance
Set point for regulatorwith high variance
Testlimit
Process output
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System IdentificationSystem Identification
Simplified diagram of a kraft paper machine
Thick stockdilution valve
Thick stockflow valve Beta ray
gauge
Moisturemeter
White water
MODEL OF PROCESS DYNAMICS AND DISTURBANCES
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Control of Basis WeightControl of Basis Weight
Wet basis weight
Set point of stuff gate level
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Adaptive ControlAdaptive Control
Design Estimator
Regulator Processr
uy
Regulatorparameters
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Dual ControlDual ControlControl actions should be both directing and investigating
Consequences for decision making decisions under uncertainty
•
•
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Two PrinciplesTwo Principles
Certainty Equivalence (H. Simon 1956)Make the best estimate act as if it was true.
Dual ControlControl should be investigating as wellas directing.
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Computer Aided Control EngineeringComputer Aided Control Engineering
How to disseminate complicated technology?Conceptual simplicity computational sophisticationCombine human intuition with computational powerNice way to package theory
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Computer ControlComputer Control
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Control Design & Process DesignControl Design & Process Design
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The Internal Model PrincipleThe Internal Model Principle
Controller Process
y
K� –LΣ
xC
B
–y–C
xΣ
uB Σ � Σ
A
v e
A
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ApplicationsApplicationsEnergy generationEnergy transmissionProcess controlDiscrete manufacturingInstrumentationTelecommunication
TransportationHeating, ventilation, airconditionEntertainmentPhysicsBiologyEconomics
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Mission CriticalMission Critical
Flight ControlSpace flightAutomotiveCD playerCamcorder manufacturing
DC-motor
photo diodes radial arm
Optical Pick-upUnit
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The Mercedes AThe Mercedes A--classclassAutomatic control gives extra freedom to the designer
Unstable behavior improved byElectronic Stabilization Program (ESP)
ESP
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Committee on Policy Optimisation HSO 1978
To consider the present state of developmentof optimal control techniques as applied to macro-economic policy. To make recommendationsconcerning the feasibility and value of applyingthes techniques within Her Majesty’s Treasury.
Control and EconomicsControl and Economics
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1.1.1. IntroductionIntroductionIntroduction2.2.2. Early IdeasEarly IdeasEarly Ideas3.3.3. A Discipline EmergesA Discipline EmergesA Discipline Emerges4.4.4. The Second WaveThe Second WaveThe Second Wave5. Conclusions
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Some ChallengesSome Challenges
The gap between theory and practice“Intelligent” systemsMan–machine interfacesTechnology / society interfacesAcademic positioning
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Mathematical Modeling
Implementation
Commission
Operation
Real World Automatic Control
EnergyTransportationCommunicationManufactoringInstrumentationEntertainmentBiologyEconomics
AnalysisSimulationSynthesis
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ConclusionsConclusions
A glimpse of an emerging fieldAutomatic control is pervasiveSome system principlesMany challenges ahead