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MA3005 Short Review (Lecture 1)

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27 views17 pages

MA3005 Short Review (Lecture 1)

Uploaded by

crtve
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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D(s)

R(s) +
C(s)
+
-
Controller + Plant

MA3005: Control Theory


Part II: Controller Design

Assistant Professor Guo Zhan Lum

1
Background
▪ Educational Background (Mechanical Engineering)
➢ B.Eng. with first class honors from NTU (2006 – 2010)
➢ Dual Ph.Ds. from NTU and CMU (2011 – 2016)
➢ Post-Doctoral Researcher at MPI (2016 – 2017)
CMU – Carnegie Mellon University (USA), MPI – Max Planck Institute for Intelligent Systems (Germany)

▪ Contact Details
➢ Email: [email protected]
➢ Office: N3.2-01-22

2
Teaching Plan (Part I)
LAMS and Live Short Review Lectures
Week Lecture Topics Tutorial
1 Introduction to Systems and Laplace Transformation
2 Mathematical Modelling of Dynamic Systems 1
3 Mathematical Modelling of Mechanical Systems 2
4 Response and Stability 3
5 First-Order and Second-Order Systems 4
6 Transient Response 5
7 Basic Control Actions (Quiz Week)

3
Teaching Plan (Part II)

Live Lectures
Week Lecture Topics Tutorial
8 Recap & Introduction to controller design/System Types 6

9 Root Locus: Introduction and Sketching 7


10 Root Locus: Controller Design 8
11 Bode Plot: Introduction and Sketching 9
12 Bode Plot: Analysis 10
13 Revision 11

4
Assessment
Quiz (20%)
• Week 7 during lecture hours.
• Hint: Simpler than final exams – Don’t miss it!

Homework (20%)
• Released in Week 10 and two weeks to complete

Final Exam (60%)


• Restricted Open Book: 1 double-sided A4 cheatsheet (typed or hand-written)
• IMPORTANT: No formula sheet attached as appendix

5
Suggestions

• Read the PDF lecture notes


• Watch the LAMS video and do their activities (Week 1 to 7)
• Attend the lecture sessions
• Please ask the questions at the end of the lecture
• Attempt the tutorial questions before attending the tutorials

6
Motivation
1. A method to unify sub-systems across different disciplines

2. To regulate the output with respect to time t

For example:
Desired Electrical System Mechanical System Actual
Velocity Voltage Torque Velocity
Controller

Sensors

7
Laplace Transformation
Converting differential equations (t) algebraic equations (s)

Some Basic Transform s-shifting


1
ℒ 1 = 1
𝑠 ℒ −1 = 𝑒 −𝑎𝑡
𝑠 𝑠+𝑎
ℒ cos 𝜔𝑡 = 2
𝑠 + 𝜔2
𝜔 𝜔
ℒ sin 𝜔𝑡 = 2 ℒ −1 = 𝑒 −𝑎𝑡 sin 𝜔𝑡
𝑠 + 𝜔2 𝑠 + 𝑎 2 + 𝜔2

𝑑𝑓 0
ℒ 𝑓(𝑡) = 𝐹(𝑠), ℒ = 𝑠𝐹 𝑠 − 𝑓(𝑡 = 0)
𝑑𝑡

8
Physical System

R(s) + E(s) C(s)


Gc(s) P(s)
- Controller Plant

H(s)
Sensor

Software
Programming

9
Microcontroller
Example (Modelling)
Derive equation of motion
F Using f = ma,
C1 𝐹 − 𝐶1 𝑥ሶ + 𝐾1 𝑥 = 𝑀𝑥ሷ
M 𝐹 = 𝑀𝑥ሷ + 𝐶1 𝑥ሶ + 𝐾1 𝑥
K1 Laplace Transform
C1 x
𝐹(𝑠) = 𝑀𝑠 2 𝑋 + 𝐶1 𝑠𝑋 + 𝐾1 𝑋
𝐶1 𝑥ሶ 𝐶1 𝑥ሶ
𝐹 𝑠 = 𝑀𝑠 2 + 𝐶1 𝑠 + 𝐾1 𝑋

K1x K1x 𝑋(𝑠) 1


K1 = = 𝐺(𝑠)
𝐹(𝑠) 𝑀𝑠 2 + 𝐶1 𝑠 + 𝐾1
F
𝐶1 𝑥ሶ + 𝐾1 𝑥
M
F(s)
G(s)
𝑥ሷ X(s)
10
10
Example (Solving I)
Ns 𝑁
1 Assume that: 𝑀 = 1 kg, 𝐶1 = 7 , 𝐾1 = 6 .
m 𝑚
F(s) 𝑀𝑠 2 + 𝐶1 𝑠 + 𝐾1 X(s) Solve 𝑥(𝑡) when 𝑓 𝑡 = 1 N.

1
Input in s-domain: 𝐹(𝑠) =
𝑠

Solving 𝒙(𝒕)
1 1 1
𝑋 𝑠 = 𝐹(𝑠) 𝑋(𝑠) = 2
𝑀𝑠 2 + 𝐶1 𝑠 + 𝐾1 𝑠 + 7𝑠 + 6 𝑠

1
𝑋(𝑠) =
𝑠 𝑠 + 1 [𝑠 + 6]

11
11
Example (Solving II)
Ns 𝑁
1 Assume that: 𝑀 = 1 kg, 𝐶1 = 7 , 𝐾1 = 6 .
m 𝑚
F(s) 𝑀𝑠 2 + 𝐶1 𝑠 + 𝐾1 X(s) Solve 𝑥(𝑡) when 𝑓 𝑡 = 1 N.

1 A B C
Partial Fraction: 𝑋(𝑠) = 𝑠 𝑠 + 1 [𝑠 + 6] → 𝑋 s = s + s + 1 + s + 6

Comparing numerator: 𝐴 𝑠 + 1 𝑠 + 6 + 𝐵𝑠 𝑠 + 6 + 𝐶𝑠(𝑠 + 1) = 1


1
Sub s = 0: 𝐴 1 6 + 0 = 1 → 𝐴 =
6
1 1/6 −1/5 1/30
Sub s = -1: 𝐵 −1 5 =1→𝐵=−
5 𝑋 s = + +
s s+1 s+6
1
Sub s = -6: 𝐶 −6 −5 = 1 → 𝐶 =
30
1 1 −𝑡 1 −6𝑡
Laplace Inverse: 𝑥 𝑡 = ℒ −1 𝑋 s = − 𝑒 + 𝑒
6 5 30

Particular Solution Homogeneous Solution


12
12
Example (Solving II)
Ns 𝑁
1 Assume that: 𝑀 = 1 kg, 𝐶1 = 7 , 𝐾1 = 6 .
m 𝑚
F(s) 𝑀𝑠 2 + 𝐶1 𝑠 + 𝐾1 X(s) Solve 𝑥(𝑡) when 𝑓 𝑡 = 1 N.

1 A B C
Partial Fraction: 𝑋(𝑠) = 𝑠 𝑠 + 1 [𝑠 + 6] → 𝑋 s = s + s + 1 + s + 6

Comparing numerator: 𝐴 𝑠 + 1 𝑠 + 6 + 𝐵𝑠 𝑠 + 6 + 𝐶𝑠(𝑠 + 1) = 1


1
Sub s = 0: 𝐴 1 6 + 0 = 1 → 𝐴 =
6
1 1/6 −1/5 1/30
Sub s = -1: 𝐵 −1 5 =1→𝐵=−
5 𝑋 s = + +
s s+1 s+6
1
Sub s = -6: 𝐶 −6 −5 = 1 → 𝐶 =
30
1 1 −𝑡 1 −6𝑡
Laplace Inverse: 𝑥 𝑡 = ℒ −1 𝑋 s = − 𝑒 + 𝑒
6 5 30

Steady-state Transient Response


response 13
13
Final Value Theorem (FVT)
Ns 𝑁
Assume that: 𝑀 = 1 kg, 𝐶1 = 7 , 𝐾1 = 6 .
m 𝑚
1
Solve 𝑥𝑠𝑠 when 𝑓 𝑡 = 1 N.
F(s) 𝑀𝑠 2 + 𝐶1 𝑠 + 𝐾1 X(s)
1
Given: 𝑋(𝑠) = 𝑠 𝑠+1 [𝑠+6]

Recomputing steady-state 𝒙 (𝒙𝒔𝒔 ) with FVT


𝑥𝑠𝑠 = lim 𝑥(𝑡) = lim 𝑠𝑋(𝑠)
𝑡→∞ 𝑠→0

1
= lim𝑠
𝑠→0 𝑠 𝑠 + 1 [𝑠 + 6]

1 1
= lim =
𝑠→0 1 [6] 6

Valid only when the system is stable

14
14
Position Control System
Physical System
F
C1

K1 Displacement
x sensor

Block Diagrams
Xd(s) + E(s) F(s) X(s)
-
Gc (s) G(s)
Controller Plant

H(s)
Sensor 15
Summary

1. Introduction and motivation of learning control theory

2. Laplace transformation
▪ Partial fraction and Laplace Inverse
▪ Final value theorem

16
Acknowledgement

Professor Cuong Professor Tegoeh

17

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