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x(t)
x(kT)
Sampler
Zero-order h(t)
Hold
x(kT)
Sampler
Zero-order h(t)
Hold
kTs
e
L[ f (t kT )] F ( s )e kTs , L[1(t kT )]
s
L[ (t )] 1, L (t kT ) e kTs
e kTs e ( k 1)Ts
x(kT)L[1(t - kT) - 1(t - (k 1)T)] x(kT)[
]
s
s
k 0
k 0
e kTs e ( k 1)Ts
1 e Ts kTs 1 e Ts
x(kT)
x(kT)
e
s
s
s
k 0
k 0
kTs
x(kT)e
k 0
As X ( s) L
Therefore
kTs
x
(
kT
)
(
t
kT
)
x
(
kT
)
e
k 0
k 0
1 e Ts
H ( s ) L[h(t )]
s
x(kT)e
k 0
kTs
1 e Ts
X (s)
s
X ( s)
s
1 e
Gh1 ( s )
s
Ts
Ts 1
ZOH
GP(s)
G P ( s)
GP (s)
sT G P ( s )
G HP ( z ) Z G HP ( s ) Z (1 e )
Z
Z e
s
s
s
G P ( s)
GP (s)
1 G P ( s )
1
Z
z Z
(1 z ) Z
s
s
s
sT
GP (s)
sT
G HP ( z ) (1 z ) Z
,
z
1
G P ( s)
1
(
1
z
)
Z
s ( s 1)
G HP ( z ) (1 z 1 ) Z
1 1
1
1
1
(1 z ) Z
(1 z ) Z Z
s s 1
s 1
s
1
1
1
(1 z )
1
T 1
1 e z
1 z
T 1
1
T
1
1
e
z
z
(
1
e
)
z
(1 z 1 )
1
T 1
(1 z )(1 e z )
1 e T z 1
1
1
GP ( s )
1
GHP ( z ) (1 z ) Z
(1 z ) Z 2
s ( s 1)
1
1
1 1
1
1
1
1
(1 z ) Z 2
(1 z ) Z 2 Z Z
s
s
s
1
s
s
s
Tz
1
1
1
(1 z )
1 2
1
T 1
1 e z
(1 z ) 1 z
(T 1 e T ) z 1 (1 e T Te T ) z 2
(1 z 1 )(1 e T z 1 )
Answer:
1 z 1 a b
b
a
GHP ( z )
1
aT 1
aT 1
a b 1 z
1 e z
1 e z
Assignment 1
You are required to implement a digital PID
controller which will enable a control object with
K n2
a transfer function of
G ( s)
s 2 2 n s n2
Assignment 1
2) Choose a suitable sample period for a control loop for G(s)
and explain your choice.
3)* Derive the discrete-time system transfer function GHP(z)
from G(s).
4) Design a digital PID controller for the discrete-time
system, and optimize its parameters with respect to the
performance criterion below
using steepest descent
M
k .ek
minimization process S
k 0
5) Simulate the resulting closed-loop system and find the
responses. Swapping the input signals a) and b), discuss
the resulting responses.
(1 e T ) z 1
G HP ( z )
1 e T z 1
For
we have
Let A=1-e-T and B=e-T, then the transfer function can
be rewritten as
(1 e T ) z 1
Az 1
Y ( z)
GHP ( z )
T 1
1
1 e z
1 Bz
X ( z)
Y ( z )(1 Bz 1 ) AX ( z ) Y ( z ) BY ( z ) z 1 AX ( z ) z 1
y (k ) By (k 1) Ax(k 1)
y (k ) Ax(k 1) By (k 1)
1
0.9
0.8
Amplitude
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0
3
Time (sec.)
Assignment 1
1)* Simulate this control object and find the responses using
Matlab or other packages/computer languages.
K n2
G ( s) 2
s 2 n s n2
Hints: Method 1
K n2
Y ( s)
G ( s) 2
2
s 2 n s n X ( s )
K n2
Y (s) G(s) X (s) 2
X (s)
2
s 2 n s n
K n2
y(t) L [G ( s ) X ( s )] L 2
X ( s)
2
s 2 n s n
Assignment 1
Hints: Method 2
K n2
Y ( s)
Y ( z)
G(s) 2
,
G
(
z
)
Z
[
G
(
s
)]
s 2 n s n2 X ( s )
X ( z)
b0 b1 z 1 b2 z 2
Y ( z)
K n2
Z 2
2
1
2
X ( z)
s
a
z
a
z
n
n
1
2
Y ( z )(1 a1 z 1 a2 z 2 ) X ( z )(b0 b1 z 1 b2 z 2 )
Y ( z ) X ( z )(b0 b1 z 1 b2 z 2 ) Y ( z )(a1 z 1 a2 z 2 )
B
y (k 1))
A
A( x(k 1) y ( k 1)), B A
k 0 1
2
3
4
...
x(k) 1
0
0
0
0
...
y(k) 0
1
0.9 0.81 0.729
It decreases exponentially, a stable system.
Y ( z)
z 1
1
G( z)
1
X ( z ) 1 z
z
Stable area
Unstable area
As
For the critical stable area in s domain s=j,
z e sT e j cos j sin
(cos ) 2 (sin ) 2 1
z e sT e a j e a (cos j sin )
e a (cos ) 2 (sin ) 2 e a
Let eg s=- + j
z e sT e j e (cos j sin )
2
2
e
(cos
(sin
e
around
0
The stable area in Z domain is within a unit
circle
the origin.
M(z)
E(z)
Gc(z)
Computer system
C(z)
ZOH
GP(s)
Plant
R ( z ) 1 GC ( z )G HP ( z )
+
R(s)
G(s)
C ( z)
G( z)
R( z ) 1 G ( z ) H ( z )
H(s)
C(s)
+
R(s)
G(s)
H(s)
C(z)
C ( z)
G( z)
R( z ) 1 GH ( z )
G1(s)
G2(s)
H(s)
C(z)
G1(s)
G2(s)
C(z)
H(s)
R( z ) 1 G1 ( z )G2 H ( z )
G(s)
H(s)
C(s)
C(z)
GR( z )
C ( z)
1 GH ( z )
G1(s)
H(s)
RG1 ( z )G2 ( z )
C ( z)
1 G1G2 H ( z )
G2(s)
C(z)
Reading
Study book
Module 3: Systems and transfer functions
(Please try the problems on page 3.46-47)
Textbook
Chapter 3 : Z-plane analysis of discretetime control system (pages 74-83 & 104114).
Tutorial
ab
ab
GP ( s )
1
(
1
z
)
Z
s
s
(
s
a
)(
s
b
)
GHP ( z ) (1 z 1 ) Z
k
k
k1
1 b (a b) a (b a )
2 3 (1 z 1 ) Z
sa
sb
s s a s b
s
(1 z 1 ) Z
1
b
a
1
1
(1 z ) Z
Z
Z
s
a
b
s
a
b
a
s
1
b
1
a
1
(1 z 1 )
1
a b 1 e aT z 1 b a 1 e bT z 1
1 z
(1 z 1 ) a b
b
a
a b 1 z 1 1 e aT z 1 1 e aT z 1
1
Tutorial
You are required to implement a digital PID
controller which will enable a control object with
K n2
a transfer function of
G ( s)
s 2 2 n s n2
Tutorial
2) Choose a suitable sample period for a control loop for G(s)
and explain your choice.
3) Derive the discrete-time system transfer function GHP(z)
from G(s).
4) Design a digital PID controller for the discrete-time
system, and optimize its parameters with respect to the
M
performance criterion below
using steepest descent
k ek
minimization process S
.
k 0
5) Simulate the resulting closed-loop system and find the
responses. Swapping the input signals a) and b), discuss
the resulting responses.
Tutorial
2) Choose a suitable sample period for a control loop
for G(s) and explain your choice.
a.
b.
c.
d.
e.
f.
Sampling theorem
Input signal
Bandwidth of a system
Bold plots
Applying sampling theorem
Sampling frequency