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Transcript of EE 475 Automac Control Systems - Iowa State …class.ece.iastate.edu/nelia/ee475/Lecture Notes/EE...
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EE475Automa,cControl
Systems
Fall2017MWF11:00-11:50am
1012CooverHall
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ClassWebpage• hDp://class.ece.iastate.edu/nelia/ee475/• Pleasecheckthepagefor
– Anyannouncements– Classnotes– HWassignments– Labassignments– Projectrequirements– Classpolicyandotherinforma,on
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BasicInforma-on• InstructorContactInforma-on
– NicolaElia,3131CooverHall– [email protected];294-6277– OfficeHour:12-1MWF– Oranyother-memutuallyconvenient– Pleaseinclude"EE475"inthesubjectlineinallemailcommunica,ons
toavoidauto-dele,ngorjunk-filtering
• TATBA
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FinalGradeWeigh-ngSchedule
• Homeworkaverage:15%(1Hwcanbelate.LowestHWscorediscarded)
• Midtermexam1:20%• Midtermexam2:20%• Finalexam:30%• Quizzes:15%(onelowestscoresdiscarded)• Discre,onarybonus:0-5%(classpar,cipa,on,improvementtrend)
• FixedGradingScale:q A:90–100% A–:85–89.9%q B+:80–84.9% B:75–79.9% B–:70–74.9%q C+:65–69.9% C:60–64.9% C–:50–55.9%q F:<50%
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CatalogDescrip-on
• EE475.Automa-cControlSystems.(3-0)Cr.3.F.Prereq:324.Stabilityandperformanceanalysisofautoma,ccontrolsystems.Thestatespace,rootlocus,andfrequencyresponsemethodsforcontrolsystemsdesign.PIDcontrolandlead-lagcompensa,on.Computertoolsforcontrolsystemanalysisanddesign.Nonmajorgraduatecredit.
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Prerequisitebytopics
• KnowledgeandproficiencyinMatlab• Conceptandsolu,onoflinearordinarydifferen,alequa,ons
• Laplacetransformanditsapplica,ons• Poles,zeros,transferfunc,ons,frequencyresponse,rootlocus,Bodeplots,Nyquistplot
• Vectorsandmatrices• Complexnumbers
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MainOBJECTIVES• Oncomple,onofEE475,thestudentwillbeabletodothefollowingeitherbyhandorwith
thehelpofcomputa,ontoolssuchasMatlab:• Definethebasicterminologiesusedincontrolssystems• Explainadvantagesanddrawbacksofopen-loopandclosedloopcontrolsystems• Obtainmodelsofsimpledynamicsystemsinordinarydifferen,alequa,on,transferfunc,on,statespace,
orblockdiagramform• Obtainoveralltransferfunc,onofasystemusingeitherblockdiagramalgebra,orMatlabtools.• Computeandpresentingraphicalformtheoutputresponseofcontrolsystemstotypicaltestinputsignals• Explaintherela,onshipbetweensystemoutputresponseandtransferfunc,oncharacteris,csorpole/
zeroloca,ons• Determineproper,esoftheclosedloopsystemformtheopenloopstystem.• Determinethestabilityofaclosed-loopcontrolsystemsusingMatlabtools,theRouth-Hurwitzcriteria,
theroot-locusandtheNyquistcriterion.• Analyzetheclosedloopstabilityandperformanceofcontrolsystemsbasedonopen-looptransfer
func,onsusingthefrequencyresponsetechniques• DesignPIDorlead-lagcompensatortoimprovetheclosedloopsystemstabilityandperformanceusingthe
frequencyresponsetechniques
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TopicsCovered• Reviewofsignalsystemsconceptsandtechniquesasappliedtocontrolsystems• Introduc,ontomodelingofdynamicalsystemsusingode’sandstatespace
methods.• LinearTimeInvariantsystems• ModelingofLTIcontrolsystemstransferfunc,onsandblockdiagrams.• Blockdiagramsmanipula,ons• Proper,esandlimita,onofLTIfeedbacksystems• BasicanalysisanddesignprinciplesofLTIfeedbacksystemsinthefrequency
domain.• Introduc,ontouncertaintyanalysisandrobustness• Analysisofdynamicresponseofcontrolsystems,includingtransientresponse,
steadystateresponse,andtrackingperformance.• Closed-loopstabilityanalysisusingtheRouth-Hurwitzcriterion,RootLocus,
Nyquistcriterion.• Stabilityandperformanceanalysisusingthefrequencyresponsetechniques• Controlsystemdesignusingthefrequencyresponsetechniques• Ifthereis,me,Controlsystemdesignusingthestatespacetechniques
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Studentbehaviorexpecta,ons• FullaDendanceexpected,exceptwithprior-no,fiedexcuses
• On-,mearrival• Ac,vepar,cipa,on
– Askques,ons– Answerques,onsfrominstructororstudents
• BecordialandconsideratetostudentsandTA• Helpeachotherinreviewingnotes,HW,Matlab• Promptlyreport/shareproblems/issues,includingtyposonslides,ormisspokenwordsfrominstructor
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Prohibitedbehaviors• Anyfoullanguageorgestures• Commentstootherstudentsthatarediscriminatoryinanyform
• Anyharassmentsasdefinedbytheuniversity• Academicdishonesty
• Noalcohol,drugs,oranyotherillegal/impropersubstances– Snacks/drinksOKaslongasyoudon’tspillandcleanup
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Accommoda,on/Assistance• Pleaseletmeknowifyou
– Haveanyspecialneeds– Havedisabilityinanyform– Haveanymedical/mental/emergencycondi,ons– Havefieldtrip/interview– Havespecialrequests– Wantmetoadjustlecturecontents/pace
• Canalsoconsultmeifyou– Wouldliketoseekadviceonanyprofessionalorpersonalissues
– Wouldliketohavecertainconfiden,aldiscussions
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Collabora-onAndHelpingEachOther
• Fortasksintendedforgroupwork,youareexpectedtofindapartnerandsharethetasksamongthegroupmembers.Inagroupproject,effec,veteamworkiscri,caltomaximizetheproduc,vityofthewholegroup.InthesubmiDedwork,iden,fycomponentsandindicatepercentagecontribu,onbyeachmembertoeachcomponent.
• Fortasksnotintendedforgroupwork,individualsubmissionisrequired.Inthiscase,youareencouragedtodiscussamongyourfriendsonhowtoaDackproblems.However,youshouldwriteyourownsolu,on.Copyingotherpeople’sworkisstrictlyprohibited.
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Academicdishonesty• Chea,ngisaveryseriousoffense.Itwillbedealtwithinthe
mostseveremannerallowableunderUniversityregula,ons.Ifcaughtchea,ng,youcanexpectafailinggradeandini,a,onofachea,ngcaseintheUniversitysystem.
• Basically,it’saninsulttotheinstructor,thedepartmentandmajorprogram,andmostimportantly,tothepersondoingthechea,ng.Justdon't.
• Ifindoubtaboutwhatmightcons,tutechea,ng,sende-mailtoyourinstructordescribingthesitua,on.Ifyouno,ceanyonechea,ng,pleasereportittotheinstructorortheTA.Donotdealwithityourself.
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Disabilityaccommoda-on
• Individualswithphysicalormentalimpairmentswhoareotherwisequalifiedtoperformtheirworkorpursuetheirstudiesmayrequestreasonableaccommoda,onstoenablethemtoworkorcon,nuetheirstudies.
• Ifyoubelieveyouhavelearningdisability,youmustcontactStudentDisabilityResourcesattheAcademicSuccessCentertoini,atetheaccommoda,onprocess.
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Accommoda-onforreligionbasedconflicts
• IowaStateUniversitywelcomesdiversityofreligiousbeliefsandprac,ces,recognizingthecontribu,onsdifferingexperiencesandviewpointscanbringtothecommunity.Studentswithreligionbasedconflictshouldtalktotheinstructorandappropriateuniversityofficestorequestaccommoda,onsattheearliestpossible,me.
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TypesofControlSystems
➸ Open-Loop– Simplecontrolsystemwhichperformsitsfunc,onwith-outconcernsforini,alcondi,onsorexternalinputs.
– Mustbecloselymonitored.
➸ Closed-Loop(feedback)– Usestheoutputoftheprocesstomodifytheprocesstoproducethedesiredresult.
– Con,nuallyadjuststheprocess.
System 2 System 1 Open Loop
System 2 System 1 Closed Loop
Feedback is ubiquitous in natural and engineered systems
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Figure 1-1 Speed control system.
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ControlSystemTerminology
• Input-Excita,onappliedtoacontrolsystemfromanexternalsource.
• Output-Theresponseobtainedfromasystem
• Feedback-Theoutputofasystemthatisreturnedtomodifytheinput.
• Error-Thedifferencebetweenthereferenceinputandtheoutput.
• FeedbackControl-sensing+computa,on+actua,on
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Why do we use feedback?
Robustness to Uncertainty through Feedback Feedback allows high performance in the presence of uncertainty Example: repeatable performance of amplifiers with 5X component variation Key idea: accurate sensing to compare actual to desired, correction through computation and actuation
Design of Dynamics through Feedback Feedback allows the dynamics of a system to be modified Example: stability augmentation for highly agile, unstable aircraft Key idea: interconnection gives closed loop that modifies natural behavior
X-29 experimental aircraft
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AdvantagesofaClosed-LoopFeedbackSystem
➸ ReducedSensi-vitytoDisturbanceByselfcorrec,ngitminimizeseffectsofsystemchanges.
➸ IncreasedAccuracyIncreasedabilitytoreproduceoutputwithvariedinput.
➸ SmoothingandFilteringSysteminducednoiseanddistor,onarereduced.
➸ IncreasedBandwidthProducessat.responsetoincreasedrangeofinputchanges.
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Control = Sensing + Computation + Actuation
Sense Vehicle Speed
Compute Control “Law”
Actuate Gas Pedal
In Feedback “Loop”
Goals Stability: system maintains desired operating point (hold steady speed) Performance: system responds rapidly to changes (accelerate to 65 mph) Robustness: system tolerates perturbations in dynamics (mass, drag, etc)
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FeedbackSystems
Sense
Compute
Actuate • Control=
Sensing+Computa,on+Actua,on
• FeedbackPrinciples– Robustnessto
Uncertainty– DesignofDynamics
• Manyexamplesoffeedbackandcontrolinnatural&engineeredsystems:
BIO
BIO ESE
ESE
CS
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ModernEngineeringApplica,onsofControl• FlightControlSystems
– Moderncommercialandmilitaryaircrarare“flybywire”
– Autolandsystems,unmannedaerialvehicles(UAVs)arealreadyinplace
• Robo,cs– Highaccuracyposi,oningfor
flexiblemanufacturing– Remoteenvironments:space,
sea,non-invasivesurgery,etc.
• ChemicalProcessControl– Regula,onofflowrates,
temperature,concentra,ons,etc.
– Long,mescales,butonlycrudemodelsofprocess
• Communica,onsandNetworks– Amplifiersandrepeaters– Conges,oncontrolofthe
Internet– Powermanagementforwireless
communica,ons• Automo,ve
– Enginecontrol,transmissioncontrol,cruisecontrol,climatecontrol,etc
– Luxurysedans:12controldevicesin1976,42in1988,67in1991
• ANDMANYMORE...
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AmodernFeedbackControlSystem
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AGermanan,-aircrar88mmgunwithitsfire-controlcomputerfromWorldWarII.DisplayedintheCanadianWarMuseum.
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Present Position
Future Position
Ship’s Heading Range Change
Bearing Change
Present Bearing
Fire Control Problem
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SolvingtheFireControlProblem
Continuously Measure Present Target Position
Stabilize Measured Quantities
Compute Relative Target Velocity
Ballistic Calculations
Relative Motion Calculations
Time of Flight
Future Target Position
Prediction Procedure
Unstabilized Launch Angles
Environmental Inputs
Launch Angles (Stabilized)
Weapons Positioning orders
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Temperature control system.
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Block diagram of an engineering organizational system.
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Conceptualmethodofefficientwaterextrac,onusingsolarpower.
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a. system concept; b. detailed layout; c. schematic; d. functional block diagram
Antenna azimuth position control system:
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Importantcomponentsofthesun-trackingcontrolsystem.
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Limita,onsoffeedback
• Feedbackaffectsstability!• Itcanmakeasystemunstable
• Feedbacksystemsaremorecomplextounderstand,designandimplement.
• Therearesomethingsfeedbackcannotdo• Performancestabilitytradeoffs
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Responseofaposi,oncontrolsystemshowingeffectofhighandlowcontrollergainonthe
outputresponse
High gain; fast but oscillating
Control goal; fast reaction, lower overshoot, less settling time
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ControlSystemsHistory
• WaD,steamenginespeedcontrolgovernor• Black,feedbackamplifiers• Minorsky,shipsteeringstability• Nyquist,closed-loopstabilityfromopen-loop• Hazen,Servomechanisms• Bode,Bodeplot,andBPbasedcontroldesign• Evans,rootlocusplot,RLbaseddesign• Kalman,statespace,controllability,Kalmanfilter• Anderson…,linearop,malcontrol
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• Bellman,dynamicprogramming• Pontryagin,maximumprinciple• Lyapunov,nonlinearsystems• Sastry…,adap,vecontrol• Arimoto,learningcontrol• Doyle…,robustcontrol• Byrnes/Isidori,nonlinearregula,on• Devasia/Chen/Paden,stableinversion• Kokotovic,backstepping
ControlSystemsHistory
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Commonlanguageacrossdisciplines
Feedback control is everywhere In this course you will learn the basic analysis and design principles of
feedback systems