Informe Laboratorio Control Avanzado NRC 18344, IEE 2011

17 09

DESIGN ANALYSIS OF STRUCTURES Jorge Hugo Gallo. Darwin Vsquez.

Politcnico Colombiano Jaime Isaza Cadavid, Carrera 48 # 7-151, Medelln, Colombia, Tarhugo10@hotmail.com, tel. (+054) 4442900 ext. 117 Darwinvasquez82@gmail.com, tel. (+054) 4711875 Summary: The following work shows the different programming techniques to drivers from obtaining discrete transfer function. The designs of the different structures were evaluated according to the degree of complexity of their algorithms, robustness and memory capacity required for implementation. The structures were applied in this work and cascade structures in parallel algorithms are simpler to work with the management structures, but have the disadvantage of not being very robust, compared with the values of the parameters. Key words: Structures design, algorithm, programming, control, cascade, parallel, filter.
1. INTRODUCCIN For the design of structures made changes to systems, from a analog design to the digital domain, using different methods for filter design and its implementation as low-pass, high-pass, band-pass in processes where required .Using block diagrams which we call filter structure describes the different structures,1D,2D,3D;4D and are directly and ladder, and the secondorder modules, cascade and parallel. With the equations obtained in the filter structures implemented in any software program and then be applied in digital signal processing using different control algorithms as LabVIEW or MATLAB. It works with fixed-point numerical system to find its effectiveness and corresponding implementation in the implementation of digital filters, specifically analyzing the quantization error for each structure.

2. Transformations and filters

Sampled-data transformations are the techniques one uses to obtain numerical solution to integral and differential equations. Any linear systems transfers function may be written as:

Equation 1. Transfer Function The backward difference is a simple technique that replaces the derivate of a function by:

Ingeniera en instrumentacin y control

Politcnico Colombiano Jaime Isaza Cadavid

Informe Laboratorio Control Avanzado NRC 18344, IEE 2011

17 09

Equation 2. Direct Structures 3.1 Structure 1D The 1D structure is called canonical because it posseses only n time delay elements, the minimun number for an nth-order transfer function. There the coeficient a0 was set to zero and the structure was called the control, or phasevariable canonical form.

Diagram 1. System Compare The design of continuous filters can be accomplished by first designing several lowpass filter transfer functions G(S), called prototype or normalized designs; the prototypes have a critical or break frequency of 1 rad/s. The prototype is used to realize a filter for a given specification by using the following frequency transformations:

Diagram 2. Structure 1D 3.2 Structure 2D If we take the transpose the of the 1D structure, we obtain the 2D structure shown in previous structure. It also implements but requires n+1 difference equations, whereas the 1D structure required only 2. The 2D difference equations have the form:

Equation 3. Direct Structure 2D Equation 1.2 filters 3. Direct structures Direct structures for a digital filter are those in which real coefficients, ai and bi of the next equation,appears as multiplers in the block diagram implementation.

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Politcnico Colombiano Jaime Isaza Cadavid

Informe Laboratorio Control Avanzado NRC 18344, IEE 2011

17 09

Diagram 3. Structure 2D With this structure we have maximum: 2n retards 2n adders 2n+1 multipliers. 3.3 Structure 3D Its mathematical model is: 3.4 Structure 4D The structure 4D is the traspose of the 3D structure,as show in previous figure.this structure has only one signal distribution point, but has 2n difference equations,as expressed below: Diagram 4. Structure 3D

That the structure has only one summing junction, bur has 2n time-delay elements.

Equation 4. Direct Structure 3D Its block diagram is: Equation 5. Direct Structure 4D Its block diagram is:

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Politcnico Colombiano Jaime Isaza Cadavid

Informe Laboratorio Control Avanzado NRC 18344, IEE 2011

17 09

It is used to treat continuous and discrete linear systems, dynamic and time-invariant SISO type (input - output), becoming one of the topics application natural and tools reviewed in the course "Linear Dynamical Systems.

5. DISCRETES SYTEMS Discrete-time systems discrete time systems are dynamic systems in which one or more variables may vary only in certain moments. These moments, called sampling and can be indicated by specifying the time which makes a physical measurement or time which reads the computer's memory. Unlike the continuous-time systems, whose behavior is described or modeled by a set of differential equations, discrete time systems described by a set of difference equations. The analysis of linear continuous systems and invariant in time is performed using the Laplace transform, while for discrete systems using z-transform. As in the continuous systems, the modeling of discrete systems can be made based on the concept of transfer function or the concept of state variables.

Diagram 5. Structure 4D

4. Continuous-time algorithm
Continuous Time: The variables evolve continuously in time. Usually represented by differential equations.

Diagram 6. Continuous system model There are two broad categories: lumped models that are represented by Ordinary Differential Equations: Diagram 7. Basic Digital Control Loop

Equation 6. Ordinary Differential Equation Distributed parameter models, which are represented by Partial Differential Equations:

5.1 DISCRETE CONTROL SYSTEMS

Equation 7. Ordinary Differential Equation

The techniques of conventional controller design method based on root locus, the frequency response method, the method of the reaction curve proposed by Ziegler-Nichols, etc., Can be used in the design of digital controllers taking as its starting point the continuous model for controllers P, PI, PID, applying them discretization techniques using the z transform working with difference equations that describe them. Undoubtedly, this design technique is most often used today to

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Politcnico Colombiano Jaime Isaza Cadavid

Informe Laboratorio Control Avanzado NRC 18344, IEE 2011

17 09

control systems based on digital computers or microprocessors. Equation 7. Filter FIR FIR filters implemented non-recursively, are inherently stable.

Another alternative is to design digital controllers directly in the discrete time domain. In this case, the control process is discretized model obtained previously and taken as a basis to design the desired controller so that the process meets the specifications required response.

The steps required for the commissioning of the control loop can be summarized as follows:

If the number of filter coefficients is not very high (for example, if the transition bands are not very steep), and in particular, if you want little or no phase distortion is usually chosen FIR filters. Its block diagram is:

-Identify the process to control (modeling). Set the desired performance characteristics for the feedback control system (standard design).

-Select the controller tuning method. Calculate the controller parameters.

-To analyze the behavior of the control loop with the model (simulation). Diagram 8. Diagram Filter FIR -Verify the controller transfer function tuning. Adjust the controller (parameterization).

-Verify the behavior of the driver in the actual process.

Diagram 9. Sample answer a signed filter FIR

6. FILTER FIR

FIR filters can be designed to have a strictly linear phase response (zero phase distortion), which is important in many applications such as data transmission, digital audio and image processing.

The system functions are given by:

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Informe Laboratorio Control Avanzado NRC 18344, IEE 2011

17 09

(a)Module,(b) phase and (c)group delay

Diagram 10. Filter flowchart

7. STRUCTURES OF FILTER For each structure they can be taken out of the diagrams the equations in difference that it is with which he/she is carried out the control algorithm. In the algorithm for modules of second order doesn't leave to keep in mind the selection of the period of sampling that is assumed it is already clear, and before it should develop an algorithm for this function. They will keep in mind the following intervals of time and parameters for the implementation of the algorithm that calculates the controller's exit, the period of sampling oct, and with this there is that pre-calculation the kT-T interval = <t <kT to consider if the retard is smaller than 1 it would be rejected. And it is also necessary to calculate the interval kT = <t <kT+1 that is the interval of the where the exit of the system is given.

That he/she should be carried out for anyone of the structures because the procedure is to calculate the necessary parameters for the implementation of anyone of them. We can analyze the complexity then for each structure, for the structure 1D are necessary a sum and a multiplication, for the structure 2D are necessary two sums and a multiplication, giving a difference as a result when carrying out the pre calculations of the algorithm.

8. QUANTIZATION AND ERROR A digital signal is discretized not only time but also in its breadth. This is because the computer, its discrete nature, cannot represent or manipulate a continuous function of amplitude. The process by which the amplitude of a discretized sound on the computer is called quantization.

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Informe Laboratorio Control Avanzado NRC 18344, IEE 2011

17 09

Diagrama 12: quantization process

The quantization process is clearly not linear, as shown in diagram 12. This means that generates nonlinear distortions or errors. Diagram 13 shows the process of quantization of an analog signal. The quantization is responsible for granting an input signal is a single output. The difference resulting from subtracting the input signal is output to the quantization error, ie the extent to which it has been necessary to change the value of a sample to match to your nearest quantization level.

Diagram 14.Quantization error

Equation 8. Quantification error probability

Diagram 13. Quantization of an analog signal

9. STRUCTURE DIRECT 1D FOR PLANT OF THE MOTORS

The structure using in the control system for plant working in the laboratory its structure 1D, because have the best answer with respect and the others structures.
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Informe Laboratorio Control Avanzado NRC 18344, IEE 2011

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The software using for this implementation was Matlab, the work code is: 9. CONCLUSIONS %ESTRUCTURA DIRECTA 1D % NUMERADOR PLANTA DISCRETA Bz=[0.678 0.3 0.0379] % DENOMINADOR PLANTA DISCRETA Az=[1 -0.7089 0.1629] t=1 sys=filt(B,A,t) dz=(sum(Az))/(sum(Bz)) mk=1:0.1:100 for mk=1 mk=Bz-sum(Bz)*(mk-1) yk=Az-sum(Az)*(mk-1) end step(yk,mk) Its answer of system is: The transfer function of FIR filter is a polynomial Z-1, and order 1, this implies the filter as L1 zeros distributed in the complex plane Z and all the poles at the origin. So often spoken of as filter FIR filters zeros. On the other hand, there are the so-called recurrent filters whose response infinite length impulse response filters of IIR filter.

The book has illustrated the correct steps for implemented design of control and the structures adequate for implementation.

With of acquisition of data that gives us the ground, we need each time you perform old operation required to measure a certain size, you get a number that represent roughly only to the extend sought. There, each result of a measurement is affected by a certain error.

10. REFERENCES

H. TROY NAGLE, Department of Electrical and Computer Engineering North Carolina State University. DIGITAL CONTROL SYSTEM ANALYSIS AND DESING.

The system has a small delay in the time of the controllers response, which is compensated by a rapid stabilization and compensation system.
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GARCIA JIMENEZ, Luis Eduardo. Control digital, teora y prctica, segunda edicin. Politcnico Colombiano Jaime Isaza Cadavid.

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