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SPRING 2004

Feb04 Jun04

Outline

DT Design - 2

Design of Digital Control Systems

Design by Emulation Discrete Design Transfer Function Design Methods State-Space Design Methods

Introduction

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Two basic digital controller design techniques:

1. Emulation:
Design a continuous compensation D(s) by using any CT controller design methods Approximate that D(s) by using any approximation methods such as Tustins Method

2. Discrete Design:

Design of Real-Time Control Systems

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Design by Emulation

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Design by emulation:
1. Design a continuous compensation 2. Digitalize the continuous compensation 3. Use discrete analysis, simulation, or experimentation

Design techniques:
1. Tustins Method or bilinear approximation 2. Matched Pole-Zero method (MPZ) 3. Modified Matched Pole-Zero method (MMPZ)
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Design by Emulation

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Tustins method:

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Design by Emulation

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Tustins method:

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Design by Emulation

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Tustins method:

sysDs = tf( 10*[0.5 1], [0.1 1] ); sysDd = c2d( sysDc, 0.025, tustin);

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Design by Emulation

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Tustins method:

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Design by Emulation

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Matched Pole-Zero (MPZ) method:

1. Map poles and zeros according to the relation 2. If the numerator is of lower order than the denominator, add powers of (z+1) to the numerator until numerator and denominator are of equal order 3. Set the DC or low-frequency gain of D(z) = that of D(s)

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Design by Emulation

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Case 1:

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Design by Emulation

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Case 2:

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Design by Emulation

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Matched Pole-Zero (MPZ) method:

The same power of z in the num & den of D(z):

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Design by Emulation

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Matched Pole-Zero (MPZ) method:

Space station attitude digital controller

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Design by Emulation

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Matched Pole-Zero (MPZ) method:

Space station attitude digital controller

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Design by Emulation

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Matched Pole-Zero (MPZ) method:

Space station attitude digital controller

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Design by Emulation

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Modified Matched Pole-Zero (MMPZ) method:

u[k+1] depends only on e[k], but not e[k+1]

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Design by Emulation

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Outline

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Design of Digital Control Systems

Design by Emulation Discrete Design Transfer Function Design Methods State-Space Design Methods

Discrete Design

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Discrete Design

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Discrete Design

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Feedback Properties:
Proportional: Derivative:

Integral:

Discrete Design

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Discrete Design

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P + D feedback

Discrete Design

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P + D feedback

Discrete Design

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Outline

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Design of Digital Control Systems

Design by Emulation Discrete Design Transfer Function Design Methods State-Space Design Methods

State-Space Design Methods

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State-Space Model:

State-Space Design Methods

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State-Space Model:

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Hardware Characteristics

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Hardware Characteristics:
A/D Converters D/A Converters Anti-Alias Prefilters The Computer Word-Size Effects Sample-Rate Selection