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COntrol

The document describes the derivation of transfer functions and control parameters for a system. It defines symbols, calculates Jacobians, converts the system to transfer functions, adds a disturbance and filters, and then uses the Ackermann formula to calculate control gains to place closed-loop poles at desired locations. Key equations and parameters are evaluated numerically.

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JUAN PARRA PERDOMO
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25 views4 pages

COntrol

The document describes the derivation of transfer functions and control parameters for a system. It defines symbols, calculates Jacobians, converts the system to transfer functions, adds a disturbance and filters, and then uses the Ackermann formula to calculate control gains to place closed-loop poles at desired locations. Key equations and parameters are evaluated numerically.

Uploaded by

JUAN PARRA PERDOMO
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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syms ei c r1 r2 r3 ec

ecp=((-ei*r3)/(c*r1*(r2+r3)))-((ec^(3))/(4))

ecp = 

 
x=[ec]

x = 

A=jacobian([ecp],x)

A = 

B=jacobian([ecp],ei)

B = 

y=ec

y = 

C=jacobian(y,x)

C = 

D=jacobian(y,ei)

D = 

 
% A=[-1/(kp*c1) 1/(kp*c1) ;1/(kp*c2) -(-1/(c2*kp))-(1/(R*c2))]
% B=[1/c1;0]
% C=[0 1]
%
% D=[0]
 

ec=11

ec = 11
 
c=0.9060

c = 0.9060

r1=1270

r1 = 1270

r2=9134

r2 = 9134

r3=6324

r3 = 6324

A=eval(A)

A = -90.7500

B=eval(B)

B = -3.5555e-04

%C=eval(C)
A=double(A)

A = -90.7500

B=double(B)

B = -3.5555e-04

C=double(C)

C = 1

%D=double(D)
[b,a]= ss2tf(A,B,C,D,1)

b =
1.0e-03 *
0 -0.3556
a =
1.0000 90.7500
●

Fc=tf(b,a)

Fc =

-0.0003556
----------
s + 90.75

Continuous-time transfer function.

tsd=10

tsd = 10

cd=1

cd = 1

wnd=4/(tsd*cd)

wnd = 0.4000

pd=conv([1 2*cd*wnd wnd^2],1)

pd =
1.0000 0.8000 0.1600
●

pdp=conv(pd,[1 5*cd*wnd])

pdp =
1.0000 2.8000 1.7600 0.3200
●

%pdp=conv(pdp,[1 5*cd*wnd])
%pdp=conv(pdp,[1 5*cd*wnd])
% pdp=conv(pdp,[1 5*cd*wnd])
 
A_ER=[A zeros(1,2);zeros(1,2) 1;-C 0 0]

A_ER =
-90.7500 0 0
0 0 1.0000
-1.0000 0 0
●

B_ER=[B;0;0]

B_ER =
1.0e-03
-0.3556
0
0
●

 
 
polosp=roots(pdp)

polosp =
-2.0000 + 0.0000i
-0.4000 + 0.0000i
-0.4000 - 0.0000i

 
Kp=acker(A_ER,B_ER,polosp)

Warning: Pole locations are more than 10% in error.


Kp =
1.0e+05 *
2.4736 0.0090 0.0495
●

 
Kpi=-Kp(3)

Kpi = -4.9500e+03

Kpi1=-Kp(2)

Kpi1 = -900.0017

Kp=[Kp(1)]

Kp = 2.4736e+05

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