Beruflich Dokumente
Kultur Dokumente
Spring 2010
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System time response Measurement of transient response metrics Transient response metrics directly from transfer function Initial and final value theorems Steady state error System type number
Steady state tracking errors: position, velocity and acceleration
Relationship to eigenvalues Routh-Hurwitz stability test Stable range of parameters from Routh-Hurwitz The S-plane and system response characterization The root locus Graphical root locus plotting techniques Dominant pole approximation Estimation of second order characteristics from dominant poles Frequency response Magnitude and phase vs log frequency plots The Bode approximation Bode plotting methods
Simple poles and zeros Complex conjugate poles Poles at zero
Frequency response metrics Open and close loop system plots Phase and gain stability margins Compensator design Design objectives - time and frequency response Phase lead compensation and the lead compensator Design using the root locus to improve transient response Design using Bode plots to improve phase and gain margin Proportional Integral Derivative (PID) control Effects of disturbances and parameter variations (if time permits)
Copyright 2012, Art MacCarley
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Rejection of external disturbances and noise Sensitivity to parameter variations Sensitivity factors Cost functions and the optimization problem (if time permits) Integral squared error (ISE) Integral absolute error (IAE) Integral time weighed errors (ITSE and ITAE) State equation models for linear systems (if time permits) Multiple-input and multiple-output systems Generation of state equations from transfer functions
Controller canonical form, all pole plant Controller canonical form, plant with zeros Observer canonical form (optional)
Representation as a vector/matrix equation Characteristic equation and stability from the system matrix Preview of modern control theory
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e(t) e(s)
Gs(s)
u(t) u(s)
Gp(s)
y(t) y(s)
G(s)
Closed Loop:
H(s) =
y(s) r(s)
1 + GsGp(s)
GsGp(s)
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Deep Space Network antennas use many control systems to track spacecraft traveling more than 16 billion kilometers from Earth. (Courtesy of NASA/JPL)
Biomedical applications including systems to simulate the neural control of human hand movements in the development of an anatomically correct prosthetic hand. (Courtesy Robotics Institute, Carnegie Mellon University)
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Advanced control systems are used to monitor and control the parameters of an electron accelerator, such as electron gun filament voltage, magnetron current, beam current, vacuum pressure and radiation exposure. (Courtesy of Idaho Accelerator Center)
Robotic manipulators aid in the automated manufacturing processes for composite aerospace components. (Courtesy of Cincinnati Machine)
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Robots Complex Control Systems Robot - From the Slav. robotnik, 'workman'; O. Slavrobu 'servant'. & Russ. robota, 'work'. From the 1920 play.' R.U.R.' (Rossum's Universal Robots), by the Czech novelist Karel Capek.
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Environmental Applications
A Tracking Solar Collector
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