Sensing and Control for Autonomy – Coursework
Digital Control Design- Using “Proportional-Integral-Plus”
The problem:
Your customer has provided you with a DC motor (in fact a
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model of one in Simulink) and asked that you design and
implement a digital (PIP) controller to give good velocity
control of the motor. This is your task for this coursework. A 6 page report explaining the design process has also been asked for as your deliverable.
The suggested steps are below; together with the control system closed-loop requirements requested by the customer (you should aim to meet these).
The steps:
In Lab 2 you have developed data-based transfer function models of the “real” motor. In Lab 3 you used the discrete time data-based model of the motor to design a Proportional-Integral- Plus (PIP) controller. The suggested steps are:
(a) Develop a suitable model of the motor using system identification.
(b) Develop a PIP position controller (based on the system identification model) using either
optimal LQ or pole-placement methods.
(c) Check this design on the linear (discrete) model against the specifications below
(d) Implement the controller on the “real” system and test the performance against the requirements below.
You may want to comment on any differences between the designed response and that achieved when implemented on the “real” motor.
Control System Performance Specifications:
Motor Control Specification
Time response:
– Type-1 Servo performance (the error should be zero in the steady-state)
– For a step input of 100 rad/s the performance must meet: Rise time <0.1s, Settling-time<0.3s, Overshoot<20%
- A 0.02Nm step load disturbance should be rejected within 0.2s (Note motor max continuous torque is 0.3Nm – so this is about 20%).
- The peak voltage applied should if possible be less than +/-10V which is the limit of the real motor. If not possible, you can limit it in the PIP control block.
Frequency Domain requirements:
- The system should have adequate stability margins
- The closed-loop bandwidth should be at least 2Hz
Sensing and Control for Autonomy - Coursework
Deliverable:
A formal report of maximum length 6 pages on how the exercise was tackled, where your approach, results, presentation and acceptable English will be assessed. It is expected that the report should contain sufficient information to enable the reader to follow your design process and decisions. The report is to be handed in via CANVAS (normal procedure) by 18:00hrs on Friday 4th March 2022.
How to work:
Whilst you may have compared notes and collaborated/discussed in the labs, reporting of your modelling and PIP control results should be done individually. I.e. it is an individual report.
Suggested report structure
• Summary (1 paragraph)
• Introduction – e.g. set the scene, give the aim and customer requirements (including
control specification), process you will follow.
• Modelling/System Ident – summarise the approach (no math it’s in the notes, just how you used it), plot of some responses, table(s) of model results, selection process and decisions you took and why (around 2 pages). Present final model.
• Control Design – summarise approach, give your Q,R or pole locations, give K. Perhaps, show your block diagram, plot predicted results from model (digital) and “real” results. (around 2 pages)
• Conclusions – did you meet the aim and did the controller meet its requirements (as outlined in the introduction)? Then reflect critically on the whole thing, what did you learn, was the approach (system ID/PIP) useful in your opinion (why/why not). Tell me something I don’t know. (around half a page?).
Marks will be distributed against the following topics in approximately the following way:
Introduction
System Ident. - Methodology & Results
PIP - Methodology & Results
Conclusions
Overall report quality, structure & referencing
Useful books/refs:
(6%) (10%) (26%) (34%) (10%) (14%)
1. Handouts/slides from RD on System Identification and on PIP Control, R. Dixon, Feb 2021, available from CANVAS.
2. Feedback control of dynamic systems, Franklin, G.F., Powell, J.D., and Emami-Naeini, A., Third Edition, Addison-Wesley, 1994.
3. Digital Control of Dynamic Systems, G.F. Franklin, Powell & Workman, Third Edition publisher, 1998.
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