Beruflich Dokumente
Kultur Dokumente
Control Systems
• Reading: Chapter 1
• What is control?
– Use of algorithms and feedback to affect the operation
of physical objects of interest (systems) to achieve
some desired performance
Input output
Physical Objects:
Plant, Process, System
2
Example: Robotic Arm
Control the voltage applied on the motors so that the robot hand
moves along a specified trajectory (and grasp some object)
National airspace
Air traffic controllers give directions for pilots so that aircraft can arrive at their
destinations in time and safely.
3
Some Observations
• Control is everywhere
– Other examples: electrical, mechanical, ecological, and financial
systems
4
Example: Satellite
gas jet
Suppose that the antennas of the satellite need to point to the earth.
Thus the satellite can only rotate around a particular axis
Satellite is a system
Input: A force F can be generated by reaction jet, which is controllable
Output: orientation of the satellite is given by the angle θ
Angular acceleration
Total torque Moment of interia
5
Example: Servomotor System
armature
resistance
Basic motor properties:
Generated torque proportional
to current:
DC motor model
System model (time domain):
6
Task of Control
• For a given system, adjust the input signal in a
proper manner to achieve, e.g.,
– Reduced steady-state error
– Faster transient response
– Disturbance rejection
– Low sensitivity to model error
Input output
Physical Objects
Controller
Plant, Process, System
Using output to help determine the controlled input (emphasis of this course)
7
Control = Sensing + Computation + Actuation
Actuate Sensing
(gas pedal) (speedometer)
Computation
(human controller)
process
y(t)
ū(t)
Digital controller
Data hold
y(kT )
u(kT ) D/A Computer A/D k = 0, 1, . . .
k = 0, 1, . . .
• The signal that the digital controller bases its decision on is sampled at
discrete time
• The command the digital controller sends to actuators is also discrete time
8
Antenna Pointing System
Voltage proportional to desired angle
Difference Power
Amplifier Amplifier Motor θ
Vi
+ Vi − Vo K1
K s(s+a)
−
Vo
Data Hold Digital Shaft Encoder
Voltage proportional to angle θ
Binary code
Course Content
• Digital System Modeling
– How to construct math model of a digital system?