Mechatronics Lab ME 140L Introduction To Control Systems: I. Lecture 2: Transfer Functions, Eigenvalues
Mechatronics Lab ME 140L Introduction To Control Systems: I. Lecture 2: Transfer Functions, Eigenvalues
Mechatronics Lab ME 140L Introduction To Control Systems: I. Lecture 2: Transfer Functions, Eigenvalues
ME 140L
m m
ω2n = k and 2ξ ω n = B , where ξ = damping ratio, ω n = natural frequency
M M
1
-B ⎛ B ⎞2 k
± ⎜ ⎟ −4
CE yields eigenvalues: s =
m ⎝m⎠ m
= -ξ ω n ± ω n ξ 2 - 1
2
⎛ 2 ⎞
⎜ - ξ ωn ± ωn ξ - 1 ⎟t
Thus the homogeneous solution: x = Ae⎝ ⎠
Note values of the eigenvalues depend upon ξ and ω n , which are functions
of m, B, and k for the mass-spring-damper system (see Lecture 2)
2
II. INTRODUCTION TO AUTOMATIC CONTROL
Objective: Change eigenvalues of the closed-loop system to allow the
system to exhibit the desired closed-loop performance.
G cG p
Y= R Input/Output → Closed Loop TF
1 + G cG p H
3
B. Standard Controllers (P, I, PD, PI, PID)
Let m(t) be the output signal from the controller and e(t) be the error input
signal to the controller.
G cG p
Y= R Input/Output → Closed Loop TF
1 + G cG p H
will have the parameters of the controller in the closed loop characteristic
equation: 1+ G cG p H =0
Therefore, the closed loop eigenvalues (time response) will depend upon:
• The chosen controller Gc
• The parameters: Kc, Ti, Td of the chosen controller
4
Comparison of Controllers: Illustration
m&x& + Bx& = F
1
X(s) 1 1/B 1/B m
G p (s) = = = m = = where τ =
F(s) ms 2 + Bs s 2 + B s s ( m s + 1) s (τ s + 1) B
m B
m
Let F=unit step input, and B=1 and m=1, so τ = =1
B
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Case 1: P Control: G c = K c
X G cG p Kc
= =
F 1 + G cG p H s 2 + s + K
c
Second order system with 2 ξω n = 1 and ω n 2 = K c
X(s) 1
Closed Loop Step Response: =
F(s) s 2 + s + 1
1
Case 2: I Control: Gc(s)= (Unstable—see appendix)
Ts
i
6
Case 3: PD Control: Gc(s)= Kc(1+Tds)
X G cG p K c (1 + Td s)
= =
F 1 + G c G p H s 2 + (1 + K T )s + K
c d c
Second order system with 2 ξω n = (1 + K c Td ) and ω n 2 = K c
X(s) s +1
Closed Loop Step Response: =
F(s) s 2 + 2s + 1
7
1
Case 4: PI Control: G c (s) = K c (1 + )
T s
i
Kc
(T s + 1)
X G cG p Ti i
= =
F 1 + G cG p H 1 K
s 3 + s 2 + K cs + c
Ti Ti
Note : Third order system
If K c = Ti = 1 ⇒ s = −1, ± j1 Oscillator (no damping)
If K c = 1 and Ti = 2 ⇒ s = −0.65,-0.18 ± j0.86
X(s) s +1
Closed Loop Step Response: =
F(s) s 3 + s 2 + s + 1
8
1
Case 5: PID Control: G c (s) = K c (1 + + T s)
T s d
i
Kc
G cG p (Td Ti s 2 + Ti s + 1)
X Ti
= =
F 1 + G cG p H Kc
s 3 + (1 + K c Td )s 2 + K cs +
Ti
Note : Third order system
X(s) s2 + s +1
Closed Loop Step Response: =
F(s) s 3 + 2s 2 + s + 1
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Best controllers appear to be using P
(Case 1) and PD (Case 3)
X(s) s +1
Recall PD with Kc=1, Td=1: = Eigenvalues: -1, -1
F(s) s 2 + 2s + 1
X(s) 5(0.1s + 1)
Now choose Kc=5, Td=0.1 : = Eigenvalues: -0.75 ± j2.11
F(s) s 2 + 1.5s + 5
10
CONTROLLER TUNING: TRIAL AND ERROR
X G cG p K c (1 + Td s)
= =
F 1 + G c G p H s 2 + (1 + K T )s + K
c d c
1.2
0.8
x(t)
Kc=1
0.6
Kc=5
Kc=10
0.4 Kc=50
0.2
0
0 1 2 3 4 5 6
Time, sec
11
Case b: Keep Kc =10 and change Td: X 10(1 + Td s)
=
F s 2 + (1 + 10T )s + 10
d
Td Eigenvalues
0.1 − 1± j3
0.5 − 3 ± j1
1 − 1,−10
5 -0.2,-50
1.8 Td=0.25
Td=0.5
1.6
Td=1
1.4 Td=5
1.2
x(t)
0.8
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
Time, sec
12
Appendix:
1
Case 2: I Control: Gc(s)=
Ts
i
1
X G cG p Ti
= =
F 1 + G cG p H s3 + s 2 + 1
Ti
Note : Third order system
X(s) 1
Closed Loop Step Response: =
F(s) s 3 + s 2 + 1
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