Lecture 21

EECE360-202, Spring05 Lecture 21
Control Design Using Root Locus

Z. Jane Wang Electrical and Computer Engineering University of British Columbia, BC
http://www.ece.ubc.ca/~elec360.htm zjanew@ece.ubc.ca
EECE 360 Spring2005
Ref.: Chapter 7.4 ,7.7,7.8

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Review
The 7 Steps to the Root Locus
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Example: Fourth-Order System

1+ K K = 0 1+ =0 2 s + 12 s + 64 s + 128s s ( s + 4)( s + 4 + 4 j )( s + 4 4 j )
4 3
Factor P(s)
Want to plot the root-locus as K varies for K>0.

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Review summary
Root locus shows evolution of closed-loop poles as one parameter changes A simple set of rules allow the loci to be sketched If details are needed, good computer packages are available to plot root locus, Matlab: rlocus, rlocfind, rltool To develop insight into control design, a control engineer will be able to determine the main features of root locus without a computer Next: design with Root Locus
Typical Root Locus Plots
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Improving Transient Response

Cannot be obtained by gain adjustment
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Example: Self-Balancing Scale

Select parameter values based on the root-locus method.
The weighing operation is controlled by the physical balance function through an electrical feedback loop.
Wc = 2 N; I = 0.05 kg-m 2 ; lw = 5 cm; li = 20 cm; b = 10 3 kg/m/s; Ks =
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1 m/rad; K i = 4800 V/m; K f = 400 V/m 4000

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Self-Balancing Scale
For small deviations y li
(The deviation angle)
d 2 d (The torque equation) I 2 = torques = lwW xWc li 2b dt dt Input voltage to motor: vm (t ) = K i y K f x Motor:
m (s)
Vm (s)
Km s ( s + 1)
(Transfer function of the motor)

Specifications
Lead screw: x = K s m
Steady-state error
ess=0 for step input Damping ratio=0.5 Less than 2 seconds

10
Underdamped response Settling time (2%)

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Self-Balancing scale
Type 1 system
Model of the automatic self-balancing scale.
lwli K i K m K s X ( s) = W ( s ) s (ls + li 2b)( s + K m K s K f ) + Wc K m K s K i li

Selecting Km via Root Locus

Goal: obtain the root-locus as a function of the motor constant Km. K 96 K m =0 The charactersitic equation is : s ( s + 8 3) s + m + 10 10 To put it in root locus form: K 96 K m =0 s 2 ( s + 8 3) + s ( s + 8 3) m + 10 10 K /10 [ s ( s + 8 3) + 96] =0 1+ m s 2 ( s + 8 3) K /10 ( s + 6.93 + 6.93 j )( s + 6.93 6.93 j ) =0 1+ m s 2 ( s + 8 3) K ( s + 6.93 + 6.93 j )( s + 6.93 6.93 j ) 1+ =0 s 2 ( s + 8 3)
Self-Balancing Scale
Root-locus as Km varies
PID (proportional-integral-derivative) Controller

Adv.: Good performance in a wide range of operationg conditions; functional simplicity. To implement a PID, 3 parameters must be determined. Textbook PID controller:
Gc ( s ) = K P +
KI + KDs s which corresponds to
(Transfer function)
u (t ) = K P e(t ) + K I e( )d + K D
In practice:
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de(t ) dt
Gc ( s ) = K P +
KI K s + D s Ds +1
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PID Controller
PI controller: Used extensively in process control on a broad range of applications due to simplicity and relatively good performance
PI controller: Gc ( s ) = K P + KI s
PD controller: Used extensively in controlling electromechanical systems

PD controller: Gc ( s ) = K P + K D s
PID Controller
Consider the PID controller K 3 s 2 + K1s + K 2 K2 Gc ( s ) = K1 + + K3s = s s 2 K ( s + as + b) K 3 ( s + z1 )( s + z2 ) = 3 = s s The PID controller introduces a pole at the origin and two zeros
Now consider a closed-loop system with a PID controller:
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PID Controller
G ( s) = 1 ( s + 2)( s + 3) Using a PID s.t. z1,2 = 3 j G ( s )Gc ( s ) 1 + G ( s )Gc ( s ) K 3 ( s + z1 )( s + z1 ) ( s + r2 )( s + r1 )( s + r1 )
Question: performance instead of e.g. settingtime, steady-state error?
T ( s) = =
Root-locus as Kd increases
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Laser Manipulator Control

The use of lasers for surgery requires high accuracy for position and velocity response.
Use a DC motor manipulator for the laser.
T (s) =
KG ( s ) K = 1 + KG ( s ) s (0.1s + 1)(0.2 s + 1) + K K 50 K = = 3 3 2 2 0.02 s + 0.3s + s + K s + 15s + 50s + 50 K
Goal: Find K s.t. ess 0.1 mm for a ramp input r (t ) = At where A = 1 mm/s also a stable response is maintained.

K v = lim s K G ( s ) = K
s 0
To ensure a stable system: 0<=K<=15.


K=10 results in a stable system and also satisfies the steady-state error specification. For a step input, overshoot settling time (to within 2% of the final value)
K=10
r = -13.98, -0.51+/- j5.96
The response to a ramp input for a laser control system

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The system response to a step input (highly oscillatory). -> not be tolerated for laser surgery
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EECE360-202, Spring05 Lecture 21

Control Design Using Root Locus

Ref.: Chapter 7.4 ,7.7,7.8

The 7 Steps to the Root Locus

Example: Fourth-Order System

Want to plot the root-locus as K varies for K>0.

Typical Root Locus Plots

Typical Root Locus Plots

Typical Root Locus Plots

Improving Transient Response

Example: Self-Balancing Scale

1 m/rad; K i = 4800 V/m; K f = 400 V/m 4000

(The deviation angle)

(Transfer function of the motor)

ess=0 for step input Damping ratio=0.5 Less than 2 seconds

Underdamped response Settling time (2%)

Model of the automatic self-balancing scale.

lwli K i K m K s X ( s) = W ( s ) s (ls + li 2b)( s + K m K s K f ) + Wc K m K s K i li

Selecting Km via Root Locus

PID (proportional-integral-derivative) Controller

KI + KDs s which corresponds to

PD controller: Used extensively in controlling electromechanical systems

Now consider a closed-loop system with a PID controller:

Question: performance instead of e.g. settingtime, steady-state error?

Laser Manipulator Control

KG ( s ) K = 1 + KG ( s ) s (0.1s + 1)(0.2 s + 1) + K K 50 K = = 3 3 2 2 0.02 s + 0.3s + s + K s + 15s + 50s + 50 K

Laser Manipulator Control

To ensure a stable system: 0<=K<=15.

Laser Manipulator Control

Laser Manipulator Control

The response to a ramp input for a laser control system

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