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Lecture 7 1 Lecture 7 2
PSfr
The Problem with Saturating Actuator
r e v u y
Example—Windup in PID Controller
PID G
-
2
y
1
0
0 20 40 60 80
• The feedback path is broken when u saturates ⇒ Open loop 0.1
behavior! u
0
• Leads to problem when system and/or the controller are unstable −0.1
0 20 40 60 80
– Example: I-part in PID Time
Lecture 7 3 Lecture 7 4
EL2620 2010 EL2620 2010
1
es
• Tt = Ti
Tt √
(b) • Tt = Ti Td
−y
KTd s
Lecture 7 5 Lecture 7 6
y
Observer State feedback Actuator ẋc = F xc + Gy
− xˆ sat v
Σ L u = Cxc + Dy
Windup possible if F unstable and u saturates
Idea: Rewrite representation of control law from (a) to (b) with the
same input–output relation, but where the unstable SA is replaced by
x̂˙ = Ax̂ + B sat v + K(y − C x̂) a stable SB . If u saturates, then (b) behaves better than (a).
v = L(xm − x̂) (a) (b)
y
y u u
SA SB
x̂ is estimate of process state, xm desired (model) state
Need actuator model if sat v is not measurable
Lecture 7 7 Lecture 7 8
EL2620 2010 EL2620 2010
ẋc = F0 xc + G0 y + Ku F − KC
u = sat(Cxc + Dy) y
G − KD ∑ s −1
xc
C ∑
v
sat
u
where G0 = G − KD. K
Lecture 7 9 Lecture 7 10
and the eigenvalues of the ”observer” based controller becomes equal It is easy to show that transfer function from y to u with no saturation
to the zeros of F (s) when u saturates equals F (s)!
Note that this implies G − KD = 0 in the figure on the previous If the transfer function (1/F (s) − 1/D) in the feedback loop is
slide, and we thus obtain P-feedback with gain D under saturation. stable (stable zeros) ⇒ No stability problems in case of saturation
Lecture 7 11 Lecture 7 12
EL2620 2010 EL2620 2010
r u y Choose
Q(s) G(s) T1 s + 1
Q= , τ < T1
− τs + 1
yb Gives the controller
b
G(s)
− Q
F = ⇒
1 − QG b
T1 s + 1 T1 1
Assume G stable. Note: feedback from the model error y − yb. F = = 1+
τs τ T1 s
b
Design: assume G ≈ G and choose Q stable with Q ≈ G−1 . PI-controller!
Lecture 7 13 Lecture 7 14
Example (cont’d)
IMC with Static Nonlinearity Assume r = 0 and abuse of Laplace transform notation
Include nonlinearity in model b = − T1 s + 1 y + 1 v
u = −Q(y − Gv)
τs + 1 τs + 1
r u y
Q G −(T1 s + 1)
− if |u| < umax (v = u): PI controller u = y
τs
v If |u| > umax (v = ±umax ):
b
G − T1 s + 1 umax
u=− y±
τs + 1 τs + 1
Choose Q ≈ G−1 . No integration.
Lecture 7 15 Lecture 7 16
EL2620 2010 EL2620 2010
Bumpless Transfer
Another application of the tracking idea is in the switching between
Other Anti-Windup Solutions automatic and manual control modes.
PID with anti-windup and bumpless transfer:
Solutions above are all based on tracking.
1 ∑
Tr +
Other solutions include: uc
−
1 1
∑
Tm s
• Tune controller to avoid saturation
• Don’t update controller states at saturation y
PD
uc
M
• Conditionally reset integration state to zero e 1
Tr
∑ 1
s
∑
u
A
1
Tr
Note the incremental form of the manual control mode (u̇ ≈ uc /Tm )
Lecture 7 17 Lecture 7 18
Friction
Friction is present almost everywhere
• Often bad:
Stick-Slip Motion
x
– Friction in valves and other actuators 2 y
1
• Sometimes good: 0
0 10 20
– Friction in brakes Fp 0.4
Time
Ff
• Sometimes too small: 0.2 ẏ
0
– Earthquakes 0 10 20
Time
y x Fp
Problems: 1
Ff
• How to model friction? 0
0 10 20
Time
Lecture 7 19 Lecture 7 20
EL2620 2010 EL2620 2010
0.5 5 minute exercise: Which are the signals in the previous plots?
0
0 20 40 60 80 100
Time
0.2
−0.2
0 20 40 60 80 100
Time
1
−1
0 20 40 60 80 100
Time
Lecture 7 21 Lecture 7 22
Stribeck Effect
Friction increases with decreasing velocity (for low velocities)
Friction Modeling
Stribeck (1902)
Steady state friction: Joint 1
200
150
100
50
Friction [Nm] 0
-50
-100
-150
-200
Lecture 7 23 Lecture 7 24
EL2620 2010 EL2620 2010
Lecture 7 25 Lecture 7 26
_
xr u 1 v 1 x
PID ms s Advantage: Avoid that small static error introduces oscillation
_
Disadvantage: Error won’t go to zero
Lecture 7 27 Lecture 7 28
EL2620 2010 EL2620 2010
replacements
Dither Signal
Avoid sticking at v = 0 (where there is high friction) Model-Based Friction Compensation
by adding high-frequency mechanical vibration (dither )
For process with friction F :
F
Friction
mẍ = u − F
_ use control signal
xr u 1 v 1 x
PID ms s u = uPID + F̂
_
Lecture 7 29 Lecture 7 30
Lecture 7 31 Lecture 7 32
EL2620 2010 EL2620 2010
1
P-controller 1
PI-controller
0.5 vref 0.5 The Knocker
0 v 0
−0.5 −0.5
−1
0 1 2 3 4 5 6 7 8
−1
0 1 2 3 4 5 6 7 8
Coulomb friction compensation and square wave dither
10 10
Typical control signal u
5 u 5
2.5
0 0
−5 −5
2
−10 −10
0 1 2 3 4 5 6 7 8 0 1 2 3 4 5 6 7 8
1.5
0
0.5
−0.5
−1
0 1 2 3 4 5 6 7 8 0
10
5 −0.5
0 1 2 3 4 5 6 7 8 9 10
−5
−10
Hägglund: Patent and Innovation Cup winner
0 1 2 3 4 5 6 7 8
Lecture 7 33 Lecture 7 34
101
99
12
• Compensation for friction
11.5
u
11
10.5
time
Horch: PhD thesis (2000) and patent
Lecture 7 35 Lecture 7 36
EL2620 2010
Next Lecture
• Backlash
• Quantization
Lecture 7 37