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Abstract: It is well known that the type of hold circuit used in a digital control scheme critically
influences the position of the discrete-time zeros. Most digital control systems use a zero-order
hold (ZOH). Nevertheless, there are more convenient alternatives to the use of a ZOH signal
reconstruction device in certain digital control problems. A fractional order hold (FROH) circuit is
proposed in this paper in order to manage a computer hard disk read-write head described as a
second order system. Significant improvements in the transient performance of the closed-loop
system are obtained with respect to the use of a ZOH when using a properly adjusted FROH device.
(8)
(3)
where NTO(Z)and NT1(z)are the numerators of the sampled
where transfer funclions with ZOH and FOH, respectively. In
addition, notice that, according to eqn. 5, the location of
the discrete-time poles does not depend on fl.
Fig. 1 shows a very simple and intuitive design of an
and 0 is an nth row vector with all zero elements. The FROH device that implements the u(t) function given by
sampled transfer function is: eqn. 2. The circuit coasists of two resistor ladder networks,
a modified integral operator, an adder and several electro-
nic switches. The ,switches are controlled by the digital
inputs and would be implemented using, for example, field
effect transistors. The digital inputs are the binary numbers
(4) A and B (only 4-bits for the simplicity of the figure) and
the pulse function S. A represents u(K) and the integrator
or, equivalently,
input resistance is controlled by B, adjusting the integrator
gain in such ;I way that:
b(z - 1)det
0
+ z det
--
'Ref
RI"tl"C1
p[- u(KT) - u((K - 1)T)
T 1
Both A and B are calculated by the digital controller. S has
z det[zI - @] (5) a period T an11 manages the discharges of the C , capacitor
(R,C, 5 duty cycle << r). Fig. 2 illustrates an example of
Thus, the zeros of the discrete-time system are the roots of: the FROH circuit operation for various values of the
parameter /?,assuming that the reconstructed signal is a
No(z) = b(z - 1) det digitally generated sinusoidal function with f = 1 kHz.
"out
- -
Fig. 1 Fractional order hold (FROH) circuit
118 ILE Pro.-Control Theory Appl., Vol. 148, No. 2, March 2##I
a
I I
.a
v
-1.0 Fig. 4 Magnitude of most unstable FROH discrete zero of GB(z) for
I ( ~ [ - l , I ] a n dTe[O.O.Is]
0 0.5 1.o 1.5
time,ms
d
0.05Nm/A, the system is described by a second order
Fig. 2 Signal reconstruction with ZOH (i.e. fi = 0), FOH (i.e. fi = I), zero-free transfer function:
FROH (I( = 0.5 and fi = -0.5) and sampling period 0.1 ms of the digitallj~
5
generated junction g(t) = sin(2nP) V with f = I kHz G(s) = = B(s) = Kl -
+ Cs + K - (s + 0 . 2 ) ~+ 3 1.62
~ ~
n disk pioten z-
0
._
o
L
0
5a
0.08
0.07
0.06
0.05
0.01
5
VI
0.03
0.02
0.01
IEE Proc.-Control Theory Appl., Vol. 148, No. 2, March 2001 I19
robustness of the design by avoiding the cancellations of obtained by searching the minimum of that function
stable, but poorly damped, plant zeros. The improvement (flop,=-0.3332 in our case). Once the p gain of the
that can be reached by means of a suitable choice of the FROH reconstruction circuit is tuned to the value of bopt
parameter p is shown. Both the ZOH ( p = O ) and FOH the most stable zeros are obtained for this plant and this
( p = 1) are not able to provide discrete-time zeros into the sampling period. Notice that the most unstable zero
stability region. However, by adjusting p to a suitable value magnitude provided by the FROH (Izoptl= 0.5 142) is
in the FROH, an inverse stable discrete plant can be 48.54% smaller than the magnitude corresponding to the
obtained. ZOH (p = 0)l discretisation ( lzZOHI = 0.9993). Besides,
Besides, the following properties can be derived from these FROH zeros are located inside the stability region.
the previous observations: Finally, thi: second approach is described here. The
generalised root locus method will be used to study the
(i) For any given sampling period 7: it is always possible to
location of the discretization FROH zeros in the complex
obtain FROH discretisation zeros that are more stable than
plane as a function of /3. Substituting eqns. 7 and 8 into
the ZOH and FOH ones by means of a right choice of
eqn. 6, the zeros of Nlc(z)can be calculated as p varies as a
negative values of the parameter fl. This fact agrees with
generalised root locus with the parameter fl as its general-
the theoretical properties of limiting FROH zeros-for
ised gain:
sufficiently small (T-+ 0) limiting sampling periods-
given by [ lo].
(ii) The contour lines limiting each region are very abrupt
when negative values of p are used (i.e., the magnitude
changes very quickly as fl varies). Therefore, the optimum In eqn. 11, Ihe terminating points of the root locus of
value of p, that is, the value that provides the FROH zeros N,,(z) = 0 as /? + fCO are the roots of
being as stable as possible for a particular continuous-time
plant and sampling period, must be calculated as exactly as
possible in the case when using algorithm implementations
of the FROH device by using the approximate method
proposed in [14]. If the implementation is made with
and the starting points of N,&) = 0 as p+- 0 are the roots
Of:
electronic circuitry, then /3 has to be fixed as close as
possible to its optimum value according to the achievable
technical performances of the components.
' "[
+
(Z - I)(z
Z(Z
1-
+ 1.9960)
+ 0.9993)
=0
(14)
zeros of resulting sampled systems is concerned, namely:
First let us study the direct generalised root locus (GRL).
(a) The most general approach consists of obtaining the The classical root locus procedure ensures that the root
roots of eqn. 6 as a function of parameter p. Then, the value locus on the real axis always lies in a section of the real
of is adjusted in order to minimise the largest root axis to the lelt of an odd number of starting and terminat-
magnitude by using approximated numerical recipes. ing points. Th'is implies that the FROH discretisation zeros
(b) The second method consists of applying the classical
with p ranging from 0 to plus infinity evolve leftwards-
root locus method with fi being the generalised gain. always moving away from the origin- on the negative real
Now, the two above approaches are applied to the case of axis as 13 increases, due to the relative positions of the
the computer hard disk read-write head for a given value of starting and tlxminating points on the real axis. Note that
the sampling period T, = 0.005 s, that is well suited for our the starting p'oints, except the fixed one at z=O, are also
digital control system. The magnitude of the most unstable the ZOH zeros. Therefore, the FROH discretisation zeros
zero as a function of p i s obtained from eqn. 6 and plotted with j > 0 are always real and of less convergence abscissa
in Fig. 6. Then, the optimum value of p can be easily than the ZOH ones.
However, in the case of complementary generalised root
1.Lr locus (CRL), where fl E ( - CO, 01, the starting and termi-
nating points remains identical, while the departure and
arrival angles are opposite. Thus, there exists a range of
1.2 negative values of p for which the FROH zeros are located
closer to the origin than the ZOH and FOH ones. This
negative rangc: goes from 0 to a value pmin= - lamin
1 where
Bmin depends on the continuous-time plant parameters and
the current sampling period Tc;.The CRL is depicted in
Fig. 7 Two brcakaway points are located on the real axis at
z , = -0.4999 and z2= - 1.1976 x lo3. The corresponding
values of p are f l , =-0.3334 and &=-2.9970. In
this case, as Fig. 7 shows, the optimum value of the
parameter p corresponds to the breakaway point located
at zI =-0.4999 and marked as zOpt. Therefore,
-1.0 -0.8 -0.6 -0.1 -0.2 0 0.2 0.1 0.6 0.8 1.0 popt= P I = -0.3334. Note that this FROH provides a
FROH porameter, p discretisation zero magnitude ( lzoptl= 0.4999) that is
Fig. 6 Mugnittide of most unstable FROH zero for snmpling period of 49.97% smaller than the magnitude corresponding to the
digital control system tinder study T, = 0.005s ZOH discretisation (IzZOHI = 0.9993). Besides, the FROH
I20 IE'E Proc.-Control Theory App/., Vol. 148, No. 2,March 2003
step reponse
0.0101 1
2.0.9
5 Computer hard disk read/write head digital 5.1 Cancellations of the discrete plant zeros
control design. An illustrative example Assume that a ZOH is used (i.e. p = 0 ) and the model
reference control scheme of Fig. 9 is applied. All the poles
In this section, a well-known digital control scheme is used and zeros of the Gz,Ho, (z) plant are cancelled by the
for accurate positioning of the readlwrite head described in digital controller. The closed-loop step response is very
Section 3. The ZOH signal reconstruction device and, oscillatory (see Fig. lo]) since the controller possesses a
alternatively, the proposed FROH circuit are used here to poorly damped (almost critically stable) pole (which corre-
reconstruct the control signal. Then, the performances of
the controlled system in both cases are compared.
The open-loop discrete transfer function when a ZOH
device is used ( D = O ) is:
BZOHOJZ) - 6.2328 . 10-5(z 0.9993)+ reference model
GZOHOL =
+ +
AZOH,L(z) - (z* 1 . 9 7 3 ~ 0.9979) -
precompensotor
OV I
0 0.01 0.02 0.03 0.01 0.05 0.06 0 0.005 0.010 0.015 0.020 0.025 0.030 0.035 0.040
time,s time,s
Fig. 10 Unit-step response of compensated system by using ZOH Fig. 12 Unit-step response of compensated system by using ZOH
device, when discrete plant zero is transmitted to reference model
device, when plant zero is cancelled by digital controller
sponds with the cancelled plant zero located in Now, an alternative solution is proposed consisting in
z = -0.9993). synthesising an appropriate pole-zero relative positions in
Now, the FROH with the optimal parameter the reference model by selecting a pertinent FROH hold
/jopt= -0.3332 is used. The obtained response of the device pararneter j. First, the FROH zeros are placed
closed-loop system is much better since now the cancelled properly by using p, considering the position of the roots
zero is much more stable (see Fig. 11). of the characteristic polynomial AM(z) given by eqn. 17,
It turns out that a zero cancellation with the ZOH device and then these zeros are transmitted to the reference model.
is highly unsuitable. However, the cancellation of the The basic criterion observed in this particular case in order
FROH zero is not a good choice either, since important to place the FROH zeros with respect to the poles of A M ( z )
oscillatory effects appear in the system output between the was the obtaining of a fast response with a small percen-
sampling instants. Such well known effects are due to the tage overshoot for the controlled system, see, e.g. [13].
cancellation of the process zeros [2, 131. After exhaustive simulation, it was found that the best
closed-loop response again corresponds to identical p,
popt= -0.3332. Thus, the resulting closed-loop discrete
5.2 Transmission of the reference model zeros transfer function is then:
Evidently, no attempt must be made to cancel the zero of
G,OHOL(z). In such a case,
0.8-
(
I I I
7 Acknowledgment
--1.01
OI-
0
U
0.005 0.010 0.015 0.020 0.025 0.030 0.035 0.0LO
original version of the manuscript. This work has been
partially supported by the University of the Basque Coun-
try (UPV/EHU) through Project 106.106-EB8235/2000
and DGES (Project DPI2000-0244).
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