CDS 110 L10.2: Motion Control Systems. Motion Control Systems
|
|
- Aldous Richardson
- 5 years ago
- Views:
Transcription
1 CDS, Lecture.2 4 Dec 2 R. M. Murray, Caltech CDS CDS L.2: Motion Control Systems Richard M. Murray 4 December 22 Announcements Final exam available at 3 pm (during break); due 5 pm, Friday, 3 Dec 2 Outline: Motion Control Systems Two degree of freedom design Control design for the Kelly II vehicle Cooperative Control of Multi-Vehicle Systems (optional) Reading: Optional: Motion Control Systems Control objective: move the vehicle to a give point or along a given path Special features: second order dynamics, input constraints are important, often have a human in the loop (someplace) 4 Dec 2 R. M. Murray, Caltech CDS 2
2 CDS, Lecture.2 4 Dec 2 R. M. Murray, Caltech CDS 2 Approach: Two Degree of Freedom Design Nonlinear design global nonlinearities input saturation state space constraints Linear design ref Trajectory Generation u d x d noise δ u Plant P Local Control output Use real-time trajectory generation to construct (suboptimal) feasible trajectories Use local linear/nonlinear control for tracking & robust performance 4 Dec 2 R. M. Murray, Caltech CDS 3 Multi-Vehicle Wireless Testbed for Integrated Control, Communications and Computation (DURIP) Cremean et al CDC 22 Testbed features Distributed computation on vehicles + command and control console Point to point networking (bluetooth) + local area networking (82.) Overhead vision system provides global position data (LPS) 4 Dec 2 R. M. Murray, Caltech CDS 4
3 CDS, Lecture.2 4 Dec 2 R. M. Murray, Caltech CDS 3 MVWT Block diagram 4 Dec 2 R. M. Murray, Caltech CDS 5 Vehicle Hardware Fan Motor Motor Controller Casters (3) Batteries Safety Screen PIC Board Laptop Hat for vision system not shown. 4 Dec 2 R. M. Murray, Caltech CDS 6
4 CDS, Lecture.2 4 Dec 2 R. M. Murray, Caltech CDS 4 Software Architecture Controller Library (LQR,NTG, MPC etc) Vision Module 82.b Vision System OR RHexLib Module Manager Simulator QNX USB Driver PIC software Data Logger Controller Shell RHexComm 82.b Other Vehicles Other Vehicles Other Vehicles Onboard Sensors Motors Master controller /User Interface 4 Dec 2 R. M. Murray, Caltech CDS 7 Dynamics f Vehicle dynamics: mx = f cos f sin dx 2 my = fsin + f2cos dy J = rf Fan dynamics Control algorithm Fan dynamics Vehicle dynamics m ω = τω+ α( i) m ω = τω + α( i ) f f = Nω = Nω 2 2 Nonlinear map Wireless network Vision system Plant Vision System Time delay + noise (pixelation) Wireless network Variable time delay 4 Dec 2 R. M. Murray, Caltech CDS 8
5 CDS, Lecture.2 4 Dec 2 R. M. Murray, Caltech CDS 5 y f x Linearization Linearize around a mv mx = = f fcos dx cos f2sin dv constant velocity along y mx my = = f fsin + dy sin + f2cos dx JJ = = rf rf v = v f = dv x =, x = f2 = =, = Shift coordinates to the origin and write in state space form: v = v v u = f 2 u = f dv 2 Remarks Ignores actuator dynamics (assume fast) Ignores time delays (for now) Parameters m = 5.5 b =. J =.47 r =.23 d =.5 4 Dec 2 R. M. Murray, Caltech CDS 9 Control Design: State Space f Choose control to stabilize error, e = x-x d u = K(x-x d )+u d x d = desired state u d = nominal force Pole-zero map x Imag Axis.2 x -.2 x x Real Axis 4 Dec 2 R. M. Murray, Caltech CDS
6 CDS, Lecture.2 4 Dec 2 R. M. Murray, Caltech CDS 6 5 f Control Design: Frequency Domain Bode Diagrams From: U() P vu = s + d P yu2 2 Js + bs+ Jdv / m 2 2 = ( ms + ds)( Js + bs) Compute transfer functions using H = C(sI-A) - B Use loop shaping to design compensator Forward velocity: simple proportional gain Lateral position: use lead compensator 5 Bode Diagrams From: U() Loop xfer fcn Phase (deg); Magnitude (db) To: Y() fwd vel fwd vel lateral lateral Phase (deg); Magnitude (db) To: Y() Frequency (rad/sec) Frequency (rad/sec) 4 Dec 2 R. M. Murray, Caltech CDS Control Design: Frequency Domain Phase (deg); Magnitude (db) To: Y() f Bode Diagrams From: U() Pvu = s + d C = K v p 2 Js + bs+ Jdv / m Pyu = ( ms + ds)( Js + bs) s+ a Cl = K s + b Kp = a =. K = b = Loop xfer fcn Amplitude Amplitude To: Y() To: Y() Step Response From: U() Time (sec.) Step Response From: U() Time (sec.) Frequency (rad/sec) 4 Dec 2 R. M. Murray, Caltech CDS 2
7 CDS, Lecture.2 4 Dec 2 R. M. Murray, Caltech CDS 7 Time Delay Estimates 8 ms 33 ms 6 ms Camera takes picture LPS Broadcasts data Laptop receives data EVENT No actuator delay included in estimates or measurement Total delay estimate: 65 ms Measured delay: 65.3 ms average ms 6 ms ms PIC sends new PWM signal and lights the LEDs PIC receives data Controller receives data 4 Dec 2 R. M. Murray, Caltech CDS 3 f Unmodeled Dynamics: Sensor Delay Control algorithm Fan dynamics Vehicle dynamics ( z, z2) Wireless network Vision system Plant Phase (deg); Magnitude (db) To: Y() Bode Diagrams From: U() Loop xfer fcn Amplitude To: Y() Amplitude To: Y() Step Response From: U() Time (sec.) Step Response From: U() Frequency (rad/sec) Time (sec.) 4 Dec 2 R. M. Murray, Caltech CDS 4
8 CDS, Lecture.2 4 Dec 2 R. M. Murray, Caltech CDS 8 Next Steps: Multi-Vehicle Operations Applications Cooperative control in dynamic, uncertain, adversarial environments (RoboCup) Formation flight of micro-satellite clusters (TechSat 2, TPF) Questions How do we coordinate motion between multiple vehicles? How do we provide redundancy and failure tolerance? What should we communicate between vehicles and how often? 4 Dec 2 R. M. Murray, Caltech CDS 5 What you should know for the final Basic concepts + analytical tools from entire course See summary slides on web for overview of main concepts Course Topics. Feedback concepts 2. System modeling 3. Stability/performance Step response Frequency response 4. Linear systems 5. Controllability, state space feedback 6. Transfer functions 7. Loop analysis Nyquist criterion Gain/phase margin 8. Loop shaping Loop xfer specs 9. PID + root locus 4 Dec 2 R. M. Murray, Caltech CDS 6
CDS 101/110a: Lecture 8-1 Frequency Domain Design
CDS 11/11a: Lecture 8-1 Frequency Domain Design Richard M. Murray 17 November 28 Goals: Describe canonical control design problem and standard performance measures Show how to use loop shaping to achieve
More informationThe Caltech Multi-Vehicle Wireless Testbed: Initial Implementation
The Caltech Multi-Vehicle Wireless Testbed: Initial Implementation Lars Cremean, Jason Meltzer, Ben Lee, Richard Murray (In collaboration with Steven Low, Jason Hickey, Eric Klavins, Reza Olfati, Bill
More informationCDS 101/110a: Lecture 8-1 Frequency Domain Design. Frequency Domain Performance Specifications
CDS /a: Lecture 8- Frequency Domain Design Richard M. Murray 7 November 28 Goals:! Describe canonical control design problem and standard performance measures! Show how to use loop shaping to achieve a
More informationCDS 101/110: Lecture 10-2 Loop Shaping Design Example. Richard M. Murray 2 December 2015
CDS 101/110: Lecture 10-2 Loop Shaping Design Example Richard M. Murray 2 December 2015 Goals: Work through detailed loop shaping-based design Reading: Åström and Murray, Feedback Systems, Sec 12.6 Loop
More informationCDS 101/110: Lecture 8.2 PID Control
CDS 11/11: Lecture 8.2 PID Control November 16, 216 Goals: Nyquist Example Introduce and review PID control. Show how to use loop shaping using PID to achieve a performance specification Discuss the use
More informationMagnetic Levitation System
Magnetic Levitation System Electromagnet Infrared LED Phototransistor Levitated Ball Magnetic Levitation System K. Craig 1 Magnetic Levitation System Electromagnet Emitter Infrared LED i Detector Phototransistor
More informationME 5281 Fall Homework 8 Due: Wed. Nov. 4th; start of class.
ME 5281 Fall 215 Homework 8 Due: Wed. Nov. 4th; start of class. Reading: Chapter 1 Part A: Warm Up Problems w/ Solutions (graded 4%): A.1 Non-Minimum Phase Consider the following variations of a system:
More informationCDS 101/110: Lecture 9.1 Frequency DomainLoop Shaping
CDS /: Lecture 9. Frequency DomainLoop Shaping November 3, 6 Goals: Review Basic Loop Shaping Concepts Work through example(s) Reading: Åström and Murray, Feedback Systems -e, Section.,.-.4,.6 I.e., we
More informationand using the step routine on the closed loop system shows the step response to be less than the maximum allowed 20%.
Phase (deg); Magnitude (db) 385 Bode Diagrams 8 Gm = Inf, Pm=59.479 deg. (at 62.445 rad/sec) 6 4 2-2 -4-6 -8-1 -12-14 -16-18 1-1 1 1 1 1 2 1 3 and using the step routine on the closed loop system shows
More informationGE420 Laboratory Assignment 8 Positioning Control of a Motor Using PD, PID, and Hybrid Control
GE420 Laboratory Assignment 8 Positioning Control of a Motor Using PD, PID, and Hybrid Control Goals for this Lab Assignment: 1. Design a PD discrete control algorithm to allow the closed-loop combination
More informationA PLATFORM FOR COOPERATIVE AND COORDINATED CONTROL OF MULTIPLE VEHICLES The Caltech Multi-Vehicle Wireless Testbed
Chapter 1 A PLATFORM FOR COOPERATIVE AND COORDINATED CONTROL OF MULTIPLE VEHICLES The Caltech Multi-Vehicle Wireless Testbed Timothy Chung, Lars Cremean, William B. Dunbar, Zhipu Jin, Eric Klavins, David
More informationClassical Control Design Guidelines & Tools (L10.2) Transfer Functions
Classical Control Design Guidelines & Tools (L10.2) Douglas G. MacMartin Summarize frequency domain control design guidelines and approach Dec 4, 2013 D. G. MacMartin CDS 110a, 2013 1 Transfer Functions
More informationFrequency Response Analysis and Design Tutorial
1 of 13 1/11/2011 5:43 PM Frequency Response Analysis and Design Tutorial I. Bode plots [ Gain and phase margin Bandwidth frequency Closed loop response ] II. The Nyquist diagram [ Closed loop stability
More informationPosition Control of DC Motor by Compensating Strategies
Position Control of DC Motor by Compensating Strategies S Prem Kumar 1 J V Pavan Chand 1 B Pangedaiah 1 1. Assistant professor of Laki Reddy Balireddy College Of Engineering, Mylavaram Abstract - As the
More informationCourse Outline. Time vs. Freq. Domain Analysis. Frequency Response. Amme 3500 : System Dynamics & Control. Design via Frequency Response
Course Outline Amme 35 : System Dynamics & Control Design via Frequency Response Week Date Content Assignment Notes Mar Introduction 2 8 Mar Frequency Domain Modelling 3 5 Mar Transient Performance and
More informationBode Plot for Controller Design
Bode Plot for Controller Design Dr. Bishakh Bhattacharya Professor, Department of Mechanical Engineering IIT Kanpur Joint Initiative of IITs and IISc - Funded by This Lecture Contains Bode Plot for Controller
More informationOutline. Digital Control. Lecture 3
Outline Outline Outline 1 ler Design 2 What have we talked about in MM2? Sampling rate selection Equivalents between continuous & digital Systems Outline ler Design Emulation Method for 1 ler Design
More informationChapter 5 Frequency-domain design
Chapter 5 Frequency-domain design Control Automático 3º Curso. Ing. Industrial Escuela Técnica Superior de Ingenieros Universidad de Sevilla Outline of the presentation Introduction. Time response analysis
More informationECE317 : Feedback and Control
ECE317 : Feedback and Control Lecture : Frequency domain specifications Frequency response shaping (Loop shaping) Dr. Richard Tymerski Dept. of Electrical and Computer Engineering Portland State University
More informationDesign of Compensator for Dynamical System
Design of Compensator for Dynamical System Ms.Saroja S. Chavan PimpriChinchwad College of Engineering, Pune Prof. A. B. Patil PimpriChinchwad College of Engineering, Pune ABSTRACT New applications of dynamical
More information4F3 - Predictive Control
4F3 Predictive Control - Lecture 1 p. 1/13 4F3 - Predictive Control Lecture 1 - Introduction to Predictive Control Jan Maciejowski jmm@eng.cam.ac.uk http://www-control.eng.cam.ac.uk/homepage/officialweb.php?id=1
More informationDevelopment of an Experimental Testbed for Multiple Vehicles Formation Flight Control
Proceedings of the IEEE Conference on Control Applications Toronto, Canada, August 8-, MA6. Development of an Experimental Testbed for Multiple Vehicles Formation Flight Control Jinjun Shan and Hugh H.
More information2DOF H infinity Control for DC Motor Using Genetic Algorithms
, March 12-14, 214, Hong Kong 2DOF H infinity Control for DC Motor Using Genetic Algorithms Natchanon Chitsanga and Somyot Kaitwanidvilai Abstract This paper presents a new method of 2DOF H infinity Control
More informationModeling a Hybrid Electric Vehicle and Controller to Optimize System Performance
Root Locus Bode Plot Ref. Voltage + - + Ref. - Speed Controller Controller Real Axis Frequency Modeling a Hybrid Electric Vehicle and Controller to Optimize System Performance 2005 The MathWorks, Inc.
More informationAddendum Handout for the ECE3510 Project. The magnetic levitation system that is provided for this lab is a non-linear system.
Addendum Handout for the ECE3510 Project The magnetic levitation system that is provided for this lab is a non-linear system. Because of this fact, it should be noted that the associated ideal linear responses
More informationReadings: FC: p : lead compensation. 9/9/2011 Classical Control 1
MM0 Frequency Response Design Readings: FC: p389-407: lead compensation 9/9/20 Classical Control What Have We Talked about in MM9? Control design based on Bode plot Stability margins (Gain margin and phase
More informationDesign of a Simulink-Based Control Workstation for Mobile Wheeled Vehicles with Variable-Velocity Differential Motor Drives
Design of a Simulink-Based Control Workstation for Mobile Wheeled Vehicles with Variable-Velocity Differential Motor Drives Kevin Block, Timothy De Pasion, Benjamin Roos, Alexander Schmidt Gary Dempsey
More informationControl Design for Servomechanisms July 2005, Glasgow Detailed Training Course Agenda
Control Design for Servomechanisms 12 14 July 2005, Glasgow Detailed Training Course Agenda DAY 1 INTRODUCTION TO SYSTEMS AND MODELLING 9.00 Introduction The Need For Control - What Is Control? - Feedback
More informationLecture 7:Examples using compensators
Lecture :Examples using compensators Venkata Sonti Department of Mechanical Engineering Indian Institute of Science Bangalore, India, This draft: March, 8 Example :Spring Mass Damper with step input Consider
More informationServo Loop Bandwidth, Motor Sizing and Power Dissipation. Mark Holcomb Senior Engineer, Motion Control Specialist Celera Motion
Servo Loop Bandwidth, Motor Sizing and Power Dissipation Mark Holcomb Senior Engineer, Motion Control Specialist Celera Motion Professional Background University of Buffalo, 1994 MS ME Active Systems product
More informationYou will be asked to make the following statement and provide your signature on the top of your solutions.
1 EE 435 Name Exam 1 Spring 2018 Instructions: The points allocated to each problem are as indicated. Note that the first and last problem are weighted more heavily than the rest of the problems. On those
More informationRotary Motion Servo Plant: SRV02. Rotary Experiment #03: Speed Control. SRV02 Speed Control using QuaRC. Student Manual
Rotary Motion Servo Plant: SRV02 Rotary Experiment #03: Speed Control SRV02 Speed Control using QuaRC Student Manual Table of Contents 1. INTRODUCTION...1 2. PREREQUISITES...1 3. OVERVIEW OF FILES...2
More informationME451: Control Systems. Course roadmap
ME451: Control Systems Lecture 20 Root locus: Lead compensator design Dr. Jongeun Choi Department of Mechanical Engineering Michigan State University Fall 2008 1 Modeling Course roadmap Analysis Design
More informationCDS 101: Lecture 1 Introduction to Feedback and Control. Richard M. Murray 30 September 2002
1 CDS 101: Lecture 1 Introduction to Feedback and Control Richard M. Murray 30 September 2002 Goals: Define what a control system is and learn how to recognize its main features Describe what control systems
More informationEE 435. Lecture 16. Compensation Systematic Two-Stage Op Amp Design
EE 435 Lecture 16 Compensation Systematic Two-Stage Op Amp Design Review from last lecture Review of Basic Concepts Pole Locations and Stability Theorem: A system is stable iff all closed-loop poles lie
More informationCaltech/Colorado SEC Quarterly Status Report
Caltech/Colorado SEC Quarterly Status Report Richard Murray Jason Hickey John Hauser Bill Dunbar Ryan Franz Eric Klavins Roman Ginis Cristian Tapus Adam Granicz Reza Olfati (Melvin Flores) (Justin Smith)
More informationScalar control synthesis 1
Lecture 4 Scalar control synthesis The lectures reviews the main aspects in synthesis of scalar feedback systems. Another name for such systems is single-input-single-output(siso) systems. The specifications
More informationCavity Field Control - Feedback Performance and Stability Analysis. LLRF Lecture Part3.2 S. Simrock, Z. Geng DESY, Hamburg, Germany
Cavity Field Control - Feedback Performance and Stability Analysis LLRF Lecture Part3.2 S. Simrock, Z. Geng DESY, Hamburg, Germany Motivation Understand how the perturbations and noises influence the feedback
More informationPhys Lecture 5. Motors
Phys 253 Lecture 5 1. Get ready for Design Reviews Next Week!! 2. Comments on Motor Selection 3. Introduction to Control (Lab 5 Servo Motor) Different performance specifications for all 4 DC motors supplied
More informationApplication Note #2442
Application Note #2442 Tuning with PL and PID Most closed-loop servo systems are able to achieve satisfactory tuning with the basic Proportional, Integral, and Derivative (PID) tuning parameters. However,
More informationLecture 10. Lab next week: Agenda: Control design fundamentals. Proportional Control Proportional-Integral Control
264 Lab next week: Lecture 10 Lab 17: Proportional Control Lab 18: Proportional-Integral Control (1/2) Agenda: Control design fundamentals Objectives (Tracking, disturbance/noise rejection, robustness)
More informationMicroelectronic Circuits - Fifth Edition Sedra/Smith Copyright 2004 by Oxford University Press, Inc.
Feedback 1 Figure 8.1 General structure of the feedback amplifier. This is a signal-flow diagram, and the quantities x represent either voltage or current signals. 2 Figure E8.1 3 Figure 8.2 Illustrating
More informationIntegrator windup and PID controller design
Integrator windup and PID controller design by Ania Bae*ca 11/19/2015 Ania Bae*ca, CDS Caltech 1 Integrator windup mechanism Windup = When the controller reaches the actuator limit, then the actuator becomes
More informationANNA UNIVERSITY :: CHENNAI MODEL QUESTION PAPER(V-SEMESTER) B.E. ELECTRONICS AND COMMUNICATION ENGINEERING EC334 - CONTROL SYSTEMS
ANNA UNIVERSITY :: CHENNAI - 600 025 MODEL QUESTION PAPER(V-SEMESTER) B.E. ELECTRONICS AND COMMUNICATION ENGINEERING EC334 - CONTROL SYSTEMS Time: 3hrs Max Marks: 100 Answer all Questions PART - A (10
More informationHardware Platforms and Sensors
Hardware Platforms and Sensors Tom Spink Including material adapted from Bjoern Franke and Michael O Boyle Hardware Platform A hardware platform describes the physical components that go to make up a particular
More informationUAV: Design to Flight Report
UAV: Design to Flight Report Team Members Abhishek Verma, Bin Li, Monique Hladun, Topher Sikorra, and Julio Varesio. Introduction In the start of the course we were to design a situation for our UAV's
More informationDr Ian R. Manchester
Week Content Notes 1 Introduction 2 Frequency Domain Modelling 3 Transient Performance and the s-plane 4 Block Diagrams 5 Feedback System Characteristics Assign 1 Due 6 Root Locus 7 Root Locus 2 Assign
More informationEE 560 Electric Machines and Drives. Autumn 2014 Final Project. Contents
EE 560 Electric Machines and Drives. Autumn 2014 Final Project Page 1 of 53 Prof. N. Nagel December 8, 2014 Brian Howard Contents Introduction 2 Induction Motor Simulation 3 Current Regulated Induction
More informationEE 482 : CONTROL SYSTEMS Lab Manual
University of Bahrain College of Engineering Dept. of Electrical and Electronics Engineering EE 482 : CONTROL SYSTEMS Lab Manual Dr. Ebrahim Al-Gallaf Assistance Professor of Intelligent Control and Robotics
More informationDesign and Implementation of the Control System for a 2 khz Rotary Fast Tool Servo
Design and Implementation of the Control System for a 2 khz Rotary Fast Tool Servo Richard C. Montesanti a,b, David L. Trumper b a Lawrence Livermore National Laboratory, Livermore, CA b Massachusetts
More informationME 375 System Modeling and Analysis
ME 375 System Modeling and Analysis G(s) H(s) Section 9 Block Diagrams and Feedback Control Spring 2009 School of Mechanical Engineering Douglas E. Adams Associate Professor 9.1 Key Points to Remember
More informationHomework Assignment 13
Question 1 Short Takes 2 points each. Homework Assignment 13 1. Classify the type of feedback uses in the circuit below (i.e., shunt-shunt, series-shunt, ) 2. True or false: an engineer uses series-shunt
More informationEEL2216 Control Theory CT2: Frequency Response Analysis
EEL2216 Control Theory CT2: Frequency Response Analysis 1. Objectives (i) To analyse the frequency response of a system using Bode plot. (ii) To design a suitable controller to meet frequency domain and
More informationME375 Lab Project. Bradley Boane & Jeremy Bourque April 25, 2018
ME375 Lab Project Bradley Boane & Jeremy Bourque April 25, 2018 Introduction: The goal of this project was to build and program a two-wheel robot that travels forward in a straight line for a distance
More informationof harmonic cancellation algorithms The internal model principle enable precision motion control Dynamic control
Dynamic control Harmonic cancellation algorithms enable precision motion control The internal model principle is a 30-years-young idea that serves as the basis for a myriad of modern motion control approaches.
More informationPERSONALIZED EXPERIMENTATION IN CLASSICAL CONTROLS WITH MATLAB REAL TIME WINDOWS TARGET AND PORTABLE AEROPENDULUM KIT
Eniko T. Enikov, University of Arizona Estelle Eke, California State University Sacramento PERSONALIZED EXPERIMENTATION IN CLASSICAL CONTROLS WITH MATLAB REAL TIME WINDOWS TARGET AND PORTABLE AEROPENDULUM
More informationPan-Tilt Signature System
Pan-Tilt Signature System Pan-Tilt Signature System Rob Gillette Matt Cieloszyk Luke Bowen Final Presentation Introduction Problem Statement: We proposed to build a device that would mimic human script
More informationPROCEEDINGS OF THE SECOND INTERNATIONAL CONFERENCE ON SCIENCE AND ENGINEERING
POCEEDINGS OF THE SECOND INTENATIONAL CONFEENCE ON SCIENCE AND ENGINEEING Organized by Ministry of Science and Technology DECEMBE -, SEDONA HOTEL, YANGON, MYANMA Design and Analysis of PID Controller for
More informationJNTUWORLD. 6 The unity feedback system whose open loop transfer function is given by G(s)=K/s(s 2 +6s+10) Determine: (i) Angles of asymptotes *****
Code: 9A050 III B. Tech I Semester (R09) Regular Eaminations, November 0 Time: hours Ma Marks: 70 (a) What is a mathematical model of a physical system? Eplain briefly. (b) Write the differential equations
More information1.What is frequency response? A frequency responses the steady state response of a system when the input to the system is a sinusoidal signal.
Control Systems (EC 334) 1.What is frequency response? A frequency responses the steady state response of a system when the input to the system is a sinusoidal signal. 2.List out the different frequency
More informationCONTROLLER DESIGN FOR POWER CONVERSION SYSTEMS
CONTROLLER DESIGN FOR POWER CONVERSION SYSTEMS Introduction A typical feedback system found in power converters Switched-mode power converters generally use PI, pz, or pz feedback compensators to regulate
More informationAnalog Circuits and Systems
Analog Circuits and Systems Prof. K Radhakrishna Rao Lecture 31: Waveform Generation 1 Review Phase Locked Loop (self tuned filter) 2 nd order High Q low-pass output phase compared with the input 90 phase
More informationA Machine Tool Controller using Cascaded Servo Loops and Multiple Feedback Sensors per Axis
A Machine Tool Controller using Cascaded Servo Loops and Multiple Sensors per Axis David J. Hopkins, Timm A. Wulff, George F. Weinert Lawrence Livermore National Laboratory 7000 East Ave, L-792, Livermore,
More informationDEGREE: Biomedical Engineering YEAR: TERM: 1
COURSE: Control Engineering DEGREE: Biomedical Engineering YEAR: TERM: 1 La asignatura tiene 14 sesiones que se distribuyen a lo largo de 7 semanas. Los dos laboratorios puede situarse en cualquiera de
More informationdspace DS1103 Control Workstation Tutorial and DC Motor Speed Control Project Report
dspace DS1103 Control Workstation Tutorial and DC Motor Speed Control Project Report By Annemarie Thomas Advisor: Dr. Winfred Anakwa May 12, 2009 Abstract The dspace DS1103 software and hardware tools
More informationBUCK Converter Control Cookbook
BUCK Converter Control Cookbook Zach Zhang, Alpha & Omega Semiconductor, Inc. A Buck converter consists of the power stage and feedback control circuit. The power stage includes power switch and output
More informationDemand Dispatch with Heterogeneous Intelligent Loads
Demand Dispatch with Heterogeneous Intelligent Loads HICSS 5, January 6, 217 Sean P. Meyn Florida Institute for Sustainable Energy Joel Mathias, UF & Ana Bušić, Inria Department of Electrical and Computer
More informationFeedback (and control) systems
Feedback (and control) systems Stability and performance Copyright 2007-2008 Stevens Institute of Technology - All rights reserved 22-1/23 Behavior of Under-damped System Y() s s b y 0 M s 2n y0 2 2 2
More informationRobo-Erectus Tr-2010 TeenSize Team Description Paper.
Robo-Erectus Tr-2010 TeenSize Team Description Paper. Buck Sin Ng, Carlos A. Acosta Calderon, Nguyen The Loan, Guohua Yu, Chin Hock Tey, Pik Kong Yue and Changjiu Zhou. Advanced Robotics and Intelligent
More informationChapter 10 Feedback ECE 3120 Microelectronics II Dr. Suketu Naik
1 Chapter 10 Feedback Operational Amplifier Circuit Components 2 1. Ch 7: Current Mirrors and Biasing 2. Ch 9: Frequency Response 3. Ch 8: Active-Loaded Differential Pair 4. Ch 10: Feedback 5. Ch 11: Output
More informationMotor Control. Suppose we wish to use a microprocessor to control a motor - (or to control the load attached to the motor!) Power supply.
Motor Control Suppose we wish to use a microprocessor to control a motor - (or to control the load attached to the motor!) Operator Input CPU digital? D/A, PWM analog voltage Power supply Amplifier linear,
More informationYou will be asked to make the following statement and provide your signature on the top of your solutions.
1 EE 435 Name Exam 1 Spring 216 Instructions: The points allocated to each problem are as indicated. Note that the first and last problem are weighted more heavily than the rest of the problems. On those
More informationLinear Control Systems Lectures #5 - PID Controller. Guillaume Drion Academic year
Linear Control Systems Lectures #5 - PID Controller Guillaume Drion Academic year 2018-2019 1 Outline PID controller: general form Effects of the proportional, integral and derivative actions PID tuning
More informationRotary Motion Servo Plant: SRV02. Rotary Experiment #02: Position Control. SRV02 Position Control using QuaRC. Student Manual
Rotary Motion Servo Plant: SRV02 Rotary Experiment #02: Position Control SRV02 Position Control using QuaRC Student Manual Table of Contents 1. INTRODUCTION...1 2. PREREQUISITES...1 3. OVERVIEW OF FILES...2
More informationJUNE 2014 Solved Question Paper
JUNE 2014 Solved Question Paper 1 a: Explain with examples open loop and closed loop control systems. List merits and demerits of both. Jun. 2014, 10 Marks Open & Closed Loop System - Advantages & Disadvantages
More informationFigure 1.1: Quanser Driving Simulator
1 INTRODUCTION The Quanser HIL Driving Simulator (QDS) is a modular and expandable LabVIEW model of a car driving on a closed track. The model is intended as a platform for the development, implementation
More informationEmbedded Robust Control of Self-balancing Two-wheeled Robot
Embedded Robust Control of Self-balancing Two-wheeled Robot L. Mollov, P. Petkov Key Words: Robust control; embedded systems; two-wheeled robots; -synthesis; MATLAB. Abstract. This paper presents the design
More informationAnother Compensator Design Example
Another Compensator Design Example + V g i L (t) + L + _ f s = 1 MHz Dead-time control PWM 1/V M duty-cycle command Compensator G c c( (s) C error Point-of-Load Synchronous Buck Regulator + I out R _ +
More informationEC6405 - CONTROL SYSTEM ENGINEERING Questions and Answers Unit - II Time Response Analysis Two marks 1. What is transient response? The transient response is the response of the system when the system
More informationThe MFT B-Series Flow Controller.
The MFT B-Series Flow Controller. There are many options available to control a process flow ranging from electronic, mechanical to pneumatic. In the industrial market there are PLCs, PCs, valves and flow
More informationSwarm Robotics. Communication and Cooperation over the Internet. Will Ferenc, Hannah Kastein, Lauren Lieu, Ryan Wilson Mentor: Jérôme Gilles
and Cooperation over the Internet Will Ferenc, Hannah Kastein, Lauren Lieu, Ryan Wilson Mentor: Jérôme Gilles UCLA Applied Mathematics REU 2011 Credit: c 2010 Bruce Avera Hunter, Courtesy of life.nbii.gov
More informationAdvanced Servo Tuning
Advanced Servo Tuning Dr. Rohan Munasinghe Department of Electronic and Telecommunication Engineering University of Moratuwa Servo System Elements position encoder Motion controller (software) Desired
More informationMEMS Accelerometer sensor controlled robot with wireless video camera mounted on it
MEMS Accelerometer sensor controlled robot with wireless video camera mounted on it The main aim of this project is video coverage at required places with the help of digital camera and high power LED.
More informationEE422G Solution to Homework #8
EE4G Solution to Homework #8. MATLAB >> H = tf([ 4],[ 6 6]); >> H = tf([ ],[ - 5 5 4]); >> step(h).7 Step Response.6.5 Amplitude.4... 4 5 6 >> step(h) Time (sec).5 Step Response.5 Amplitude.5.5.5..5..5..5.4.45
More informationSystem on a Chip. Prof. Dr. Michael Kraft
System on a Chip Prof. Dr. Michael Kraft Lecture 4: Filters Filters General Theory Continuous Time Filters Background Filters are used to separate signals in the frequency domain, e.g. remove noise, tune
More informationTRACK-FOLLOWING CONTROLLER FOR HARD DISK DRIVE ACTUATOR USING QUANTITATIVE FEEDBACK THEORY
Proceedings of the IASTED International Conference Modelling, Identification and Control (AsiaMIC 2013) April 10-12, 2013 Phuket, Thailand TRACK-FOLLOWING CONTROLLER FOR HARD DISK DRIVE ACTUATOR USING
More informationAnalysis and Design of Analog Integrated Circuits Lecture 1. Overview of Course, NGspice Demo, Review of Thevenin/Norton Modeling
Analysis and Design of Analog Integrated Circuits Lecture 1 Overview of Course, NGspice Demo, Review of Thevenin/Norton Modeling Michael H. Perrott January 22, 2012 Copyright 2012 by Michael H. Perrott
More information*Engineering and Industrial Services, TATA Consultancy Services Limited **Professor Emeritus, IIT Bombay
System Identification and Model Predictive Control of SI Engine in Idling Mode using Mathworks Tools Shivaram Kamat*, KP Madhavan**, Tejashree Saraf* *Engineering and Industrial Services, TATA Consultancy
More informationMEM01: DC-Motor Servomechanism
MEM01: DC-Motor Servomechanism Interdisciplinary Automatic Controls Laboratory - ME/ECE/CHE 389 February 5, 2016 Contents 1 Introduction and Goals 1 2 Description 2 3 Modeling 2 4 Lab Objective 5 5 Model
More information(1) Identify individual entries in a Control Loop Diagram. (2) Sketch Bode Plots by hand (when we could have used a computer
Last day: (1) Identify individual entries in a Control Loop Diagram (2) Sketch Bode Plots by hand (when we could have used a computer program to generate sketches). How might this be useful? Can more clearly
More informationImplementation and Simulation of Digital Control Compensators from Continuous Compensators Using MATLAB Software
Implementation and Simulation of Digital Control Compensators from Continuous Compensators Using MATLAB Software MAHMOUD M. EL -FANDI Electrical and Electronic Dept. University of Tripoli/Libya m_elfandi@hotmail.com
More informationMEM380 Applied Autonomous Robots I Winter Feedback Control USARSim
MEM380 Applied Autonomous Robots I Winter 2011 Feedback Control USARSim Transforming Accelerations into Position Estimates In a perfect world It s not a perfect world. We have noise and bias in our acceleration
More informationObserver-based Engine Cooling Control System (OBCOOL) Project Proposal. Students: Andrew Fouts & Kurtis Liggett. Advisor: Dr.
Observer-based Engine Cooling Control System (OBCOOL) Project Proposal Students: Andrew Fouts & Kurtis Liggett Advisor: Dr. Gary Dempsey Date: December 09, 2010 1 Introduction Control systems exist in
More informationSwitch Mode Power Conversion Prof. L. Umanand Department of Electronics System Engineering Indian Institute of Science, Bangalore
Switch Mode Power Conversion Prof. L. Umanand Department of Electronics System Engineering Indian Institute of Science, Bangalore Lecture - 30 Implementation on PID controller Good day to all of you. We
More informationAutomatic Control Systems 2017 Spring Semester
Automatic Control Systems 2017 Spring Semester Assignment Set 1 Dr. Kalyana C. Veluvolu Deadline: 11-APR - 16:00 hours @ IT1-815 1) Find the transfer function / for the following system using block diagram
More informationDr Ian R. Manchester Dr Ian R. Manchester Amme 3500 : Root Locus Design
Week Content Notes 1 Introduction 2 Frequency Domain Modelling 3 Transient Performance and the s-plane 4 Block Diagrams 5 Feedback System Characteristics Assign 1 Due 6 Root Locus 7 Root Locus 2 Assign
More informationTracking Position Control of AC Servo Motor Using Enhanced Iterative Learning Control Strategy
International Journal of Engineering Research and Development e-issn: 2278-67X, p-issn: 2278-8X, www.ijerd.com Volume 3, Issue 6 (September 212), PP. 26-33 Tracking Position Control of AC Servo Motor Using
More informationControl System Design of Magneto-rheoloical Damper under High-Impact Load
Control System Design of Magneto-rheoloical Damper under High-Impact Load Bucai Liu College of Mechanical Engineering, University of Shanghai for Science and Technology 516 Jun Gong Road, Shanghai 200093,
More informationAn Overview of Linear Systems
An Overview of Linear Systems The content from this course was hosted on TechOnline.com from 999-4. TechOnline.com is now targeting commercial clients, so the content, (without animation and voice) is
More informationMTE 360 Automatic Control Systems University of Waterloo, Department of Mechanical & Mechatronics Engineering
MTE 36 Automatic Control Systems University of Waterloo, Department of Mechanical & Mechatronics Engineering Laboratory #1: Introduction to Control Engineering In this laboratory, you will become familiar
More information