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CCS Lecture- slides8_2021

The document discusses various design techniques for direct digital controllers, including analytical methods, root-locus design, and frequency domain criteria. It provides examples demonstrating the design process and the importance of meeting specifications for stability and disturbance rejection. Additionally, it emphasizes the necessity of feedback in control systems to mitigate disturbances and uncertainties.

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ezgi.sertoglu
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2 views68 pages

CCS Lecture- slides8_2021

The document discusses various design techniques for direct digital controllers, including analytical methods, root-locus design, and frequency domain criteria. It provides examples demonstrating the design process and the importance of meeting specifications for stability and disturbance rejection. Additionally, it emphasizes the necessity of feedback in control systems to mitigate disturbances and uncertainties.

Uploaded by

ezgi.sertoglu
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 68

Lecture 8: Design techniques, PID

controllers, Disturbance rejection

1
Design Techniques

Main direct digital controller design methods


• Analytical method
• Design based on Root-Locus method
• Design in frequency domain criterias
Emulation Design – (Designing discrete-time controllers by
using continuous time controllers)
Model maching based design methods

2
Design Techniques

G(s) D(s)

G(z) D(z)

3
Direct Digital Controller Design
REAL
SYSTEM

? DESIGN
MODEL

4
Direct Digital Design with Root Loci -EXAMPLE 1

Settling Time

Desired Closed Loop Poles

5
Direct Digital Design-EXAMPLE 1

6
Direct Digital Design-EXAMPLE 1

(18% Overshoot)

Closed loop system with digital


controller

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Direct Digital Design with Root Loci-EXAMPLE 2

Specifications

9
Direct Digital Design with Root Loci-EXAMPLE 2

Proportional (P)
Controller

P control is not
sufficient

10
Direct Digital Design with Root Loci-EXAMPLE 2

is not satisfied

11
12
Direct Digital Design with Root Loci-EXAMPLE 2

All specifications are


achieved, but an
extra pole is placed
at 0.74.

13
Direct Digital Design with Root Loci-EXAMPLE 2

Closed loop discrete-


time model (Model)
Transient behavior specifications are
not met.

14
Closed loop discrete-time
model (Model)

Disturbance behavior a bit get better!

Istanbul Technical University, 11 January


2012 15
Direct Digital Design with Root Loci-EXAMPLE 2

Requests could not be met, one important reason is


the system contains integral

DESIGN MUST BE REPERFORMED!

16
Direct Digital Design-Time Delay Systems-EXAMPLE 3

17
Direct Digital Design-Time Delay Systems-EXAMPLE 3

Let select
Controller zero=System pole

18
Direct Digital Design-Time Delay Systems-EXAMPLE 3

Specifications: Breakaway points:


➢No overshoot Lets pick K such that
➢Ts is as small as possible these are closed loop
poles

19
Direct Digital Design-EXAMPLE 3
Breakaway,break-in points

Apply magnitute
conditions for
breakaway points
-

20
Direct Digital Design-Time Delay Systems-EXAMPLE 3

Summary:

T= τ/30

21
Numerical Example:

Istanbul Technical University, 11 January


2012 22
Direct Digital Design-Time Delay Systems-EXAMPLE 3

, T=0.1 ,

23
Direct Digital Design-EXAMPLE 3

Open loop system

Closed loop system with


digital controller

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Summary for Digital Desing with Root Loci

1. Dominant poles in s-domain are determind that corresponds to desired specifications.


2. T is selected such that
3. The Dominant poles in s-domain is mapped to dominant poles in z-domain with
4. Discrete time open loop transfer function with zero order hold GH(z) is established.
5. For D(z)=K, root loci is established that depict the change of closed loop poles with K.
6. Using angle condition, the required angle value that makes the rootloci passes through
the dominat poles determined in step 3.
7.The zeros and poles of D(z) are determined such that this angle value and other
specifications are satisfied, the gain of controller determined using gain condition.
8. It is tested if closed-loop system response satisfies desired specifications.

Istanbul Technical University, 11 January


2012 26
Control problems

▪ Stabilization ▪ Disturbance attenuation


▪ Changing the behaviour of system ▪ Minimization of cost functions
as desired;
✓ Transient response
✓ Steady state response
Why Feedback?

uncertainties
disturbances noises

Non-linear terms

Reasons for using feedback


➢ The need to decrease effects of ➢ The need to decrease affects of
disturbances and noises modelling errors and uncertainties

27
Control Techniques- Summary

Design Purposes of Control Systems

➢ Robustifying systems against the external disturbances

28
Direct Digital Controller Design
REAL
SYSTEM

? DESIGN
MODEL

29
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PI-control rejects
the step
disturbance in
steady state.

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Direct Digital Design with Root Loci-EXAMPLE 2 REVISIT

Specifications

45
Direct Digital Design with Root Loci-EXAMPLE 2 REVISIT

All specifications are


achieved, but an
extra pole is placed
at 0.74.

46
Direct Digital Design with Root Loci-EXAMPLE 2 REVISIT

Closed loop discrete-


time model (Model)
Transient behavior specifications are
not met.

47
Direct Digital Design with Root Loci-EXAMPLE 2 REVISIT

Closed loop discrete-time


model (Model)

Disturbance behavior a bit get better!

Istanbul Technical University, 11 January


2012 48
Direct Digital Design with Root Loci-EXAMPLE 2 REVISIT

Requests could not be met, one important reason is


the system contains integral

DESIGN MUST BE REPERFORMED!

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K=1.48

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