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Outline today…
... adaptation of Compensation Controllers
... adaptation of Deadbeat-Controllers
Parameter
Adjustment
Control Parameters
disturbance control variable
reference value z
w y
Controller Process
- actuating variable
u
Compensation controller
basic idea:
• design the behaviour of the closed loop control system by
compensating special characteristics of the process or by prescribing
the poles or the denominator polynomial of the closed loop
• calculation of the poles based on the identified process, represented
by the polynomials Â(z −1 ) and B̂(z −1 ) (estimated parameters), and
based on a given structure of the controller (e.g. PID controller)
Compensation controller
Compensation controller
Compensation controller
Q( z −1 ) bˆ1 ⋅ z −1 + bˆ2 ⋅ z −2
GR,=
PID ( y ) =
P ( z −1 ) 1 + bˆ1 ⋅ z −1 + bˆ2 ⋅ z −2
n+r
closed loop (denominator): −1
1 + ∑ d i ⋅ z −1
Aˆ (z −1) ⋅ P (z −1) + Bˆ (z −1) ⋅ Q(z −1) =
D( z ) =
i =1
Q( z −1 ) q0 + q1 ⋅ z −1 + q2 ⋅ z −2
PIDT1-Controller: =
GR,PIDT 1( z ) =
P ( z −1 ) ( )(
1 − z −1 ⋅ 1 + γ ⋅ z −1 )
Prof. Dr. Schnell Adaptive and Learning Systems 13
Adaptive Control / compensation controller
n+r
closed loop (denominator): −1
1 + ∑ d i ⋅ z −1
Aˆ (z −1) ⋅ P (z −1) + Bˆ (z −1) ⋅ Q(z −1) =
D( z ) =
i =1
Bˆ ( z −1 ) bˆ1 ⋅ z −1 + bˆ2 ⋅ z −2
PT2 Model: =
Gs ( z ) =
ˆ
Aˆ ( z −1 ) 1 + aˆ1 ⋅ z −1 + aˆ2 ⋅ z −2
n+r
closed loop (denominator): D(z ) = −1 −1
1 + ∑ di ⋅ z − i
−1
Aˆ (z ) ⋅ P (z ) + Bˆ (z ) ⋅ Q(z ) = −1 −1
i =1
Procedure:
1. determination of the sampling time T0
2. determination of the process model
3. specification of the damping factor D and the natural frequency ωe
of the closed loop
4. calculation of the coefficients of the denominator polynomial D(z-1):
(
d1 =−2 ⋅ e − D⋅ωe ⋅T0 ⋅ cos ωe ⋅ T0 ⋅ 1 − D 2 ) D ≤1 d 2 = e −2⋅D⋅ωe ⋅T0
Procedure (cont.):
5. calculation of the parameter of the PIDT1 controller:
q2 = ( )( ) ( )
aˆ2 ⋅ bˆ1 + bˆ2 ⋅ aˆ1 ⋅ bˆ2 − aˆ2 ⋅ bˆ1 + bˆ2 ⋅ bˆ1 ⋅ d 2 − bˆ2 ⋅ d1 − bˆ2
( )(
bˆ1 + bˆ2 ⋅ aˆ1 ⋅ bˆ1 ⋅ bˆ2 − aˆ2 ⋅ bˆ1 − bˆ2
2
)2
Procedure (cont.):
5. calculation of the parameter of the PIDT1 controller:
q2 = ( )( ) ( )
aˆ2 ⋅ bˆ1 + bˆ2 ⋅ aˆ1 ⋅ bˆ2 − aˆ2 ⋅ bˆ1 + bˆ2 ⋅ bˆ1 ⋅ d 2 − bˆ2 ⋅ d1 − bˆ2
( )(
bˆ1 + bˆ2 ⋅ aˆ1 ⋅ bˆ1 ⋅ bˆ2 − aˆ2 ⋅ bˆ1 − bˆ2
2
)2
n+r
closed loop denominator: −1
D( z ) = −1 −1 −1 −1
1 + ∑ di ⋅ z − i
Aˆ (z ) ⋅ P (z ) + Bˆ (z ) ⋅ Q(z ) =
i =1
characteristic equation:
poles:
(
d1 =−2 ⋅ e − D⋅ωe ⋅T0 ⋅ cos ωe ⋅ T0 ⋅ 1 − D 2 ) D ≤1
d 2 = e −2⋅D⋅ωe ⋅T0
actual polynomial:
Practical experience:
• step response is influenced also by the zeros (of the numerator) of
the closed loop transfer function (and other characteristics)
• intensive use of other heuristics during the controller design
(empirical values, rules of thumb)
• Proposal of Aström (algorithm 1: natural frequency):
specification of the natural frequency in the interval
• stability condition: poles of the closed loop lie within the unit circle
Prof. Dr. Schnell Adaptive and Learning Systems 21
Adaptive Control / compensation controller
Practical experience:
• Proposal of Bobal (algorithm 2: overshoot):
specification of the denominator polynomial D:
• poles:
• stability condition:
-0.8
0.7π/T ωe
natural frequency0.3π/T
0.6π/T 0.4π/T
0.5π/T
-1
Practical experience:
• solution of Bobal algorithm 2: overshoot: