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FRTN05 Lecture13 Annotated

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18 views29 pages

FRTN05 Lecture13 Annotated

Uploaded by

b14.00010.20
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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FRNT05 Nonlinear Control Systems and Servo Systems

Lecture 13: Control Systems with


discontinuities

YIANNIS KARAYIANNIDIS, ASSOCIATE PROFESSOR www.yiannis.info


AUTOMATIC CONTROL, FACULTY OF ENGINEERING. yiannis@control.lth.se
Outline
• Time optimal control
• Sliding mode control
Sliding set
• Sliding set:
Sliding set
Example
Example: Sliding set
Example: Sliding dynamics
Sliding mode control
Sliding mode control
Sliding mode control

Equivalent control
Sliding mode control
Sliding mode control
Example

- Chattering → wear on
mechanical devices
Example
• Contninuous control
Friction
Lubrication regimes

For low velocity: friction increases


with decreasing velocity
Stribeck (1902)
Hysteresis and friction
• Dynamics are important also outside sticking regime
• Hess and Soom (1990)
• Experiment with unidirectional motion
• Hysteresis effect!
Classical friction models
Advanced Friction Models
• Karnopp model
• Armstrong's seven parameter model
• Dahl model
• Bristle model
• Reset integrator model
• Bliman and Sorine
• LuGre model (Lund-Grenoble)

See PhD-thesis by Henrik Olsson

https://lucris.lub.lu.se/ws/portalfiles/portal/4768278/8840259.pdf
Friction models with extended state
Dahl’s model

LuGre model

Contact between bristles


Friction and control
• Friction compensation
– Lubrication High-frequency mechanical
– Dither vibration: used to avoid sticking

– Integral action Integral term compensate for


– Non-model based control slowly varying disturbances
– Model-based friction compensation
– Adaptive friction compensation
Friction and control
• Friction compensation • To be useful for control the model should
– Lubrication be:
– Dither – sufficiently accurate,
– Integral action – suitable for simulation,
– Non-model based control – simple, few parameters to determine.
– Model-based friction compensation – physical interpretations, insight
– Adaptive friction compensation
• Simple models should be preffed.
• If no stiction occurs the v=0-models are
not needed.
Adaptive friction compensation
Velocity Control – Results
Quantization
Linear Model of Quantization

• e: Noise independent of u with rectangular


distribution over the quantization size with
rectangular distribution with variance
• Digital signals have specific number of bits
(accuracy and range of signals) (e.g. 8 bits, 64 bits)
• Quantization in A/D and D/A converters
• Quantization of parameters • It works if quantization level is small
• Roundoff, overflow, underflow in operations compared to the variations in u

For prediction of limit cycles

• Use describing function analysis


Sliding mode control
Sliding mode control
Quantization: Describing function

• Recall the deadzone nonlinearity

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