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CONTROL SYSTEM. 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.

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Control system

CONTROL SYSTEM

AN INTRODUCTION


Contents
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



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
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
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
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
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

SYSTEM IDENTIFICATION

INTRODUCTION


Contents1
Contents

  • 1. System

  • 2. System Identification

  • 3. Importance

  • 4. Why Specific Techniques?

  • 5. Example

  • 6. Summary


1 system
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
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
3. Importance

  • Control algorithms & system dynamics

  • First principles




6 summary
6. Summary

  • Data Generation (Experiment Design)

  • Model Structure Determination

  • Parameters Estimation

  • Model Validation


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