Analysis and Design of Linear Control Systems, 06th.

24th July, 6th Lecture

Analysis and Design of Linear Control System Part2Spring, 2012 Instructor: Prof. Masayuki Fujita (S5-305)
Lecture Time and Place: Tuesday, 10:4512:15, S224 Schedule: 24th, 31st, July TA: Tatsuya Ibuki, Yasuaki Wasa (S5-302)

11 Frequency Domain Design

11.4 Feedback Design via Loop Shaping Keyword : Lead and Lag Compensation 11.2 Feedforward Design Keyword : Feedforward 2 Degrees of Freedom 11.3 Performance Specifications Keyword : Time Domain Analysis Step Response

[Ex. 11.6] Roll control for a vectored thrust aircraft*

(2.4, Exe. 8.10)

[Ex. 11.6] Roll control for a vectored thrust aircraft* Specification Error in stationary state: from u 1 to r Less than 1% P ( s ) = G u1 = Js 2 Tracking error up to around C (s) = k k = 200 10 [rad/s]: Less than 10%
P ( j )
100 101 102

Fig. 2.17 (a) Harrier jump jet

0 (b) Simplified model

101

20 0
101 100 101

L ( j )
102

& = mg sin c x & + u 1 cos u 2 sin m& x & = mg (cos 1) c y & + u 1 sin + u 2 cos m& y && = ru J 1 u 1 = F1 u 2 = F2 mg

(2.27)

m : mass J : inertia c : damping r : force moment arm

-180

Only P control is not allowed m = 0

100 101

101

100

101

102

-180

101

102

Fig. 11.12(a)

[Ex. 11.6] Roll control for a vectored thrust aircraft* r e C (s) P(s) y Lead compensator s+a C (s) = k s + b (11.12) 1 k = 950 a = 2 b = 50 a b L ( j ) loop gain Loop transfer function 20[dB] L( s) = P( s)C ( s) P ( j ) improve convergence speed (by k ) improve phase margin (by
s+2 ) s + 50

[Ex. 11.6] Roll control for a vectored thrust aircraft* Gang of Four
M S = 1 . 84

M T = 1 . 58

In practice, roll-off filter is necessary CS

PS

m = 40
40[deg]

Frequency response

Analysis and Design of Linear Control Systems, 06th.

[Ex. 11.6] Roll control for a vectored thrust aircraft* Step response

11.6 Design Example [Ex. 11.12] Lateral control of a vectored thrust aircraft
( 2.4, Exe. 8.10)

Feedforward (2 Degree of Freedom)

closed loop with lead compensator

Fig. 2.17 (a) Harrier jump jet (b) Simplified model

Ex. 11.6: controller for the roll dynamics Ex. 11.12: controller for the position of the aircraft
(stabilization of both the attitude and the position)
Step response

inner / outer loop design methodology

[Ex. 11.12] Lateral control of a vectored thrust aircraft 2. Design Co for the lateral position under the assumption that that we can directly control the roll angle .

l. Design Ci so that H i provides fast and accurate control of the roll angle.

[Ex. 11.12] Lateral control of a vectored thrust aircraft Performance specification (entire system) zero steady-state error in the lateral position a bandwidth of 1 rad/s a phase margin of 45

Performance specification (inner loop) the low-frequency error to be no more than 5 % a bandwidth of 10 rad/s (10 times that of the outer loop)

Fig. 11.17 Inner / outer loop design

inner loop ( H i ): the roll dynamics and control outer loop: the lateral position dynamics and controller

[Ex. 11.12]
u1

[Ex. 11.12]
Fig. 11.17

transfer function from u 1 to r Pi ( s ) = 2 Js lead compensator ([Ex. 11.6]) 200( s + 2) Ci ( s ) = s + 50

H i (0) mg = 39.2

Fig. 11.17

approximate

Assume that the inner loop will eventually track our commanded input.

H i (0) 39.2
Fig. 11.18 (a)

Performance specification (inner loop)

inner loop
Actual roll dynamics

Lateral position dynamics

Hi

C (1 mgPi ) H i ( s) = i Exercise 1 + Ci Pi

Fig. 11.18 (a)

P ( s) = H i (0) Po ( s ) mg = 2 ms + cs

Lead compensator

Co ( s ) = k o

s + ao s + bo

Analysis and Design of Linear Control Systems, 06th.

[Ex. 11.12] Lateral control of a vectored thrust aircraft

Lead compensator

Co ( s ) = k o

s + ao s + bo

0 45 90

1 s+b o
bo / 10 bo 10bo

[Ex. 11.12] Lateral control of a vectored thrust aircraft Combine the inner and outer loop controllers and verify that the system has the desired closed loop performance.
150 100
50

Phase lead flattens out at approximately bo / 10 Desired crossover gc = 1 [rad/s]

bo = 10
Ensure adequate phase lead

bo / 10 < 10ao < bo ao = 0.3 ( m 45)

At gc = 1 [rad/s] , magnitude 1 H i (0) P ( s ) = H i (0) P0 ( s ) = ms 2 + cs

90 45 0

(s + ao )

50
90

180

ao / 10 ao 10ao

270 360

104

103

10 2

101

100

101

10 2

103

(b) Nyquist plot

Co ( s ) = 0.98

ko = 0.98 Exercise

s + 0.3 s + 10

Fig. 11.19 (a) Bode plot

gc : 1 [rad/s] phase margin m : 68 gain margin g m : 10

Performance specification (entire system)

[Ex. 11.12] Lateral control of a vectored thrust aircraft Not have integral action Gang of Four
M T = 1 . 18

Feedforward Design Controller with two degrees of freedom (2DOF)

A combination of feedforward and feedback controllers. Response to reference signals can be designed independently of the design for disturbance attenuation and robustness.

PS

Feedforward Improve the response to reference signals

Feedback Give good robustness Disturbance attenuation

CS

M S = 1 . 11

Feedforward

Feedback

r
Fig. 11.20 Gang of Four for vectored thrust aircraft system

F ( s)

C (s)

u
y

P( s)

Fig. 11.1 Simple 2DOF controller

Fu ( s )
Fm ( s )
ym

u ff

C (s)

u fb

P(s)

Fu ( s )
Fm ( s )
ym

u ff

C (s)

u fb

P(s)

Fm : ideal response of the

system to reference signals

Fu : feedforward reference
controller

1
G yr ( s ) = F m + PF u F m 1 + PC
(11.4)

From reference signal r to process output y

Fm ( s ) P (s)

C (s)

P(s)

G yr ( s ) =

P ( CF m + F u ) 1 + PC PF u F m = Fm + 1 + PC
(11.4)

Ideal Feedforward

Fu ( s )
Fm ( s )

Ideal Feedforward

Fu =
Feedback
(11.5)

Fu = 1 1 + PC
Feedback

Fm P

ym

(11.5)

desired response

= F m + (PF u F m )S

small S =

small S =

1 1 + PC

for all uncertainties Robust Performance

Analysis and Design of Linear Control Systems, 06th.

Generalized controller with two degrees of freedom (2DOF)

Generalized controller with two degrees of freedom (2DOF)

Fu ( s )
Fm ( s)
ym

u fd

Fd ( s)

d
P = P2 P 1

C (s)

u fb

P1 ( s)

u ff

Fu ( s )
Fm ( s )
ym

u fd

Fd ( s )

d
P2 ( s )

P2 ( s )

C (s)

u fb

P1 ( s )

u ff

1
Fig. 11.3 2DOF controller for improved response to reference signals and measured disturbances

Fig. 11.3

Fm : ideal response of the

system to reference signals

ym : desired output u ff : signal which gives the

from load disturbance to the process output

d y

ideal feedforward

desired output when Fu : feedforward reference controller applied as input to the process Fd : feedforward disturbance controller u fb: feedback control input C : feedback controller d : load disturbance : process P = P2 P P 1 r : reference signal 1, P 2

G yd ( s ) =

P2 (1 + F d P1 ) 1 + PC (11.6) = P2 (1 + F d P1 ) S

Fd =
(11.7)

feedback

P = P2 P 1

small S =

1 1 + PC

[Ex. 11.2] Vehicle steering

[Ex. 11.2] Vehicle steering

Fu ( s )
Fm ( s )
ym

u ff

P = P2 P 1

P( s) =

(s + 1) s2

C (s)

u fb

P1 ( s )

P2 ( s )

Fig. 11.3

1
Step Response of

desired response
Fig. 2.16

a2 Fm ( s ) = ( s + a) 2

2 aa== 01 .5

a nice response without overshoot from steering angle to lateral deviation y

from (11.5)

(s + 1) P( s) = s2

* = a/b

Fu =

Fm a 2s2 = P ( s + 1 )( s + a ) 2 Time [s] must be proper ( stable as long as > 0 )

[Ex. 11.2] Vehicle steering

[Ex. 11.3] Third-order system

r
Fig. 11.4(a) Overhead view

Fm ( s ) P ( s)

C (s)
ym

P(s)

y
Step Response

Fu ( s )
Fm ( s )

1
desired response

a = 0.5

process

1 P( s) = ( s + 1) 3

Fm ( s ) =

1 (0.5s + 1) 3

PI feedback controller

feedforward controller

0 . 6 s + 0 .5 C (s) = s
Fig. 11.4(b) Position and steering

Fu =

Fm ( s + 1) 3 = P (0.5s + 1) 3
must be proper

Analysis and Design of Linear Control Systems, 06th.

[Ex. 11.3] Third-order system

11.3 Performance Specifications*

Step response
Time Responses (5.3 )

Tp
Mp

y
G yr ( j )

Performance criteria Rise time Tr Settling time Ts Peak time Tp

G ur ( j )

Overshoot M p Error tolerance

Ts
0
10 % ~ 90 %

= 2% and = 5%
are the most widely used
Fig. 11.5 (a) Step response Fig. 11.5 (b) Frequency response

Tr

Feedforward Design* Ideal feedforward

Fm ( s ) P ( s)

C (s)
ym

P(s)

Second-order System*
Fm ( s ) =
2 K n 2 s + 2 n s + n 2

F Fu = m P

y = Fmr

Fu ( s )
Fm ( s )

n > 0 : natural frequency 0 : damping ratio

How to build Fm ?

First-order System K K Fm ( s ) = 1 Ts + 1 Rise time 0.8 Tr = (ln 9)T 2.2T 0.6 0.4 Settling time 0.2 3 if = 5 % T Ts 4T if = 2% 0 The step response has no overshoot

Step Response
K T

Rise time / 2 + arcsin Tr d Settling time

4 Ts = n 3 n if = 2% if = 5%

= n 1 2

Step Response
K

Tp
Mp

Ts
0
1 2
3 4 5

Peak time Tp = d Overshoot

t /T

Ts
1 2

M p = Ke /

Tr

10% ~ 90%

Butterworth Filter*

Butterworth Filter*
n : order of filter
2n

Low-pass filter
Fm ( j ) = F0

Denominator polynomial
n =1 n=2
2

1+ c

c : cutoff frequency F0 : DC gain

Im

s + c

s + 1.4cs + c
2

F0 = 1

n =1 n=2

n=3 c = 1
Re

n=3 n=4
n=5

s3 + 2.0cs2 + 2.0c s + c
2 3

s4 + 2.6cs3 + 3.4c s2 + 2.6c s + c

2 3

s5 + 3.24cs4 + 5.24c s3 + 5.24c s2 + 3.24c s + c

4

c = 1 n = 5

n=3 n=4

Low-pass filter
s

High-pass filter
1 s

slope: 20n [dB/dec]

Analysis and Design of Linear Control Systems, 06th.

24th July, 6th Lecture

11 Frequency Domain Design
11.4 Feedback Design via Loop Shaping

31st July, 7th Lecture

Design Examples
Example 12.8 (Slow Stable Process Zeros) Example 12.9 (Fast Stable Process Poles) Example 12.10* (Design Rules for Pole Placement)

Keyword : Lead and Lag Compensation

11.2 Feedforward Design

Keyword : Feedforward 2 Degrees of Freedom

11.3 Performance Specifications

Summary

Keyword : Time Domain Analysis Step Response