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K. J. strm 1. Introduction 2. Feedback and Feedforward 3. Linear Schemes 4. Nonlinear Schemes 5. Gain Scheduling and Adaptation 6. Summary
Theme: Building complex control systems.
Introduction
Many common issues in design of machines, electronics, computer software, mechatronics How to deal with complexity Modularization Standardization Structures Paradigms, Design principles Top Down and Bottom Up
Bottom Up Design
A way to view systems A number of building blocks Ideas to combine them What are the building blocks of control? What principles can be used to select and combine them? The danger: Can it be done better? Commissioning: Close loops one by one.
Feedback
A very powerful idea with dramatic impact
Controller y sp Process u G(s) y
+ Reduce effect of disturbances + Reduce effect of process variations + Linearize nonlinear systems + Does not require accurate process model - Measurement noise is injected into the system - Risk for instability
Feedforward
Process Disturbance v Gv
G ff Feedforward
Gu
Market Driven Robust to model errors S < 1 for some some frequencies Risk for instability
Control signal
+ Reduce effects of disturbances that can be measured + Improve response to reference signals + No risk for instability - Requires good models
c K. J. strm August, 2001 2
Linear Schemes
Model following - Systems with two degrees of freedom (2DOF) Filters Cascade control State feedback Observers Attenuation of disturbances with specic character The Smith Predictor Model Predictive Control
G ff2 Process
yc
Gm
y sp
G fb
G p2
y G p1
e Controller
Process
Coordination in multi-axis motion control Robotics Path following Mixing in chemical processes Coordinated production changes
-1
Feedforward yc y sp
u ff
Model
Controller
Process
Filters
Typical lters Low pass High pass Band pass Notch Body bending lters Typical applications Reduce disturbances Improve robustness (high frequency roll-off) Smooth reference signals
0.4 0 0
Cascade Control
How to use several sensors. State feedback is the ultimate case!
Process y sp Cp Cs u P1 ys P2 y
Inner loop
Outer loop
10
20
30
0 0.5 1 0 10 20 30
C u
Idea: Exploit model of disturbances (internal model principle) Constant disturbances (Integral Action) Sinusoidal disturbances Periodic disturbances A disturbance observer is an alternative.
2 as s2 + 2 as + a2
e(s)ds kd
d yf dt
e sT
u = ke +
1 ki
e(s)ds k p
t L
u(s)ds
Gp
Gm 1 e
Beautifully simple Are there some snags? Design controller C as if there were no time delays in the process.
Cancellations may degrade performance Does not work if process is unstable Less general than state feedback
Nonlinear Schemes
Limiters
y
u ff u fb L Process
Split range Ratio control Selectors Fuzzy control Gain scheduling Neural networks Adaptation
Observer
Use model to estimate variables that are not directly measurable States are the variables required to account for storage of mass, momentum and energy Estimate the state Feedback from full state deviation Feedforward to generate um and ym
Limiters
Limiters are often used To avoid saturation An element in circuits for windup protection To protect equipment to rapid changes A simple amplitude limiter
Rate Limiter
1 s
y
0
1
u ul uh y
1 0 1 2 3 4
Split Range
A simple way to use one controller to control two actuators. Commonly used for heating and cooling.
Heating valve Open
1 0 1 2 3 4
Commonly used in the power industry for load changes to save boilers.
Closed 0 0.5
Cooling valve
1.0
Ratio Control
Arrangement to obtain two ows that are proportional to each other, e.g. oil and air in boilers
A y a SP Div yk PI y yk PV y yk u B b a a(yk +b) SP PI PV u
y sp C un
Selector Control
Scheme used to achieve several control objectives, e.g. control temperature unless pressure is too high. A way to constrain process variables during operation.
PV SP M I u N uh
zmax
Cmax
M A X
G1
G2
zmin
SP PV
Cmin
ul
Process
Fuzzy Control
Rule based control Linguistic variables high, low, medium Membership functions If temperature high then increase ow a little
M I N Power demand M A X
MV SP
PI
0.5
SP MV
PI
Linear Filter
Fuzzyfier
Fuzzy Logic
0.5
Air
Fuzzy Control
A nonlinear state feedback
Neural Networks
Representation of functions of many variables
y(t) = f ai ui(t)
How do we get the states? What does the nonlinearity look like? Rules and interpolation Why so few rules When is it useful
w1 w2 wn
u3 u4 u5 y2
Excellent to automate successful manual operations Intuitive A lot of controversy: The No Model Myth Fuzzy control is more useful than its detractors claim but less useful than the propagandists claim Neuro-fuzzy
c
y
u2 y1
1 4 2 0 2 4
Gain Scheduling
Controller parameters Gain schedule Operating condition Command signal Controller Control signal
Process
Output
Important issues
Example of scheduling variables Production rate Machine speed Mach number and dynamic pressure Room occupancy
Choice of scheduling variables Granularity of scheduling table Interpolation schemes Bump-less parameter changes Man machine interfaces
Importance of auto-tuning
Adaptation
Specification Self-tuning regulator Process parameters
Uses of Adaptation
Process dynamics
Tuning Tools
Controller design Controller parameters Reference Controller Process Input Output Estimation
Automatic Tuning Gain Scheduling Adaptive feedback Adaptive feedforward Integrated systems
Varying
Constant
Unpredictable variations
Predictable variations