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r(t) y(t)
Gc Plant
Objective:
Determine controller Gc so that y(t) tracks r(t)
Additional Requirements:
Disturbance rejection
Steady-state errors
Transient characteristics
Sensitivity to parameter changes (robustness)
Selection of actuators
Design of the controller based on the developed models and design spec's
V o s Z 2 s
=
V i s Z 1 s
Plant
y(t)
r(kT) + Control
u(kT) u(t)
D/A Gp(s)
Program
-
yh(t)
A/D H(s)
yh(kT)
Sensor
Digital Computer
CT analog
CT quanitzed
Discrete-Time:
Sampled-Data
Digital
Notes:
In the design and analysis of digital control systems, the signals are
A/D converter
- converts analog input signals to digital words
D/A converter
Bipolar or Unipolar
V maxV min
Resolution - usually as N number of bits, or Q= N
Quantization levels, 2 N 2
Coding scheme for input
Bipolar: offset binary or 2's complement
Conversion time
V o=
Ro
R b 2 b1 b 0
b 3
2 4 8
V ref
Bipolar or Unipolar
V maxV min
Resolution - usually as N number of bits, or Q= N
N 2
Quantization levels, 2
Coding scheme for output
Bipolar: offset binary or 2's complement
Conversion time
Page 14 ELE709 F2008
Sampled-Data Signals
Input Output
LTI
{u k } {y k }
y k a1 y k1 a n y kn=b0 u k b1 u k1 b m u km mn
(k-2)T kT=tf
0 T 2T (k-1)T
k 1 k 2
y k := y kT u jT T = u jT T uk 1T T
j=0 j=0
i.e.
y k = y k 1u k 1 T
where
u k 1 :=uk 1T
X z = [{x k }] := x k zk .
k =
X z = [{x k }] := x k zk .
k =0
Time Advance
i1
i
{x k iT } z X zz
i
x kT z .
j
j=0
Convolution
k k
If ukT = x jT y k jT = x k jT y kT
j=0 j=0
then U z= X zY z.
Linearity
{a x kT } {b y kT } a X z b Y z.
x 0=lim x kT =lim X z.
k 0 z
Final Value Theorem
1
lim x kT =lim 1z X z.
k z 1
Input Output
H z
U z = {u k } Y z = {y k }
Y z
H z =
U z
r * t =r t pt , pt = tkT
{ }
1 2
1
*
R =
2
R
T
k s =
T
Rk s
k = k =
2
T =sampling period s= =sampling frequency
T
Page 24 ELE709 F2008
Frequency Spectrum
R
1
m m
*
R
1/T
s m m s
s m s m s m
s m
r r t =ht r t = ht r d
* *
T c
ht =
sincc t , r * = r kT
k =
T c
r c t = r kT sinc c tkT
k =
tkT
s
or r r t = r kT sinc if c =
k = T 2
Page 26 ELE709 F2008
Zero-Order Hold (ZOH)
r * t r r t
ZOH
t k t k 1 t k t k 1
r r t = r * t k , t k tt k 1
Implulse Response
ht =stept steptT , stept =unit step
Transfer Function
1
H s = [ht ] = [ 1e ]
sT
s
Frequnce Response
H j = T e j T / 2 sincT / 2
H j = T sincT / 2
H j = T / 2 (plus 180 degrees phase shift when sinc changes sign)
r * t r r t
FOH
t k1 t k t k1 t k1 t k t k 1
tt k *
*
r r t = r t k
t k t k 1
[ r t k r
*
t k1 ] , t k tt k 1
tt 1 t0 t1 t2
r r t = , t 1tt 2
T -1
Transfer Function
sT 2
1e
H s = T Ts1
sT
Page 32 ELE709 F2008
Frequency Response
ZOH
e ZOH T max t
dr t
dt
FOH
2
2 d r t
e FOH T max t
dt 2
uk ut y t yk
D/A G(s) A/D
Y z
What is G z := ?
U z
uk ut y t T yk
ZOH G(s)
T
Page 37 ELE709 F2008
Y s = G s [ut ] = G s
1esT
s
1
Let y t = [Y s] , then G z = [ y kT ].
Define G zas
G z := [Y s]
= [
1esT
s
G s ]
[ ] [ ]
sT
G s e G s
=
s s
[ ]
i.e.
G s
G z = 1z (for ZOH only)
1
s
Page 38 ELE709 F2008
What does [ F s] mean ?
To obtain [ F s]:
F s
f t
sample with
period T
{ f kT }
F z =[ F s]
By definition, G z=1z
1
s [ ]
G s
G s 1 a 1 1
But = =
s s sa s sa
Therefore [ ]1 G s
s
=stept eat stept
So that [ ]
G s
s
= [ {stepkT e akT
stepkT }]
G z = 1z1 [ ]
G s
s
= 1z1
[ z
z
z1 zeaT ]
aT
1e
= aT
ze