Advanced Automation

2009.9.10 CACSD introduction

2009.9.17 Intro. to Robust Control

2009.10.15 norm, vector space, normed linear space

2009.10.22 eigenvalue, eigenvector, singular value decomposition

2009.11.5 state space representation of connected system, state space representation of generalized plant for various control problem, mixed sensitivity problem

2009.11.19

... generalized plant is described by hand

... function sysic() is used to obtain generalized plant

simulink model

simulink model for noise problem

execution example for Matlab

rub2
size(Ap)
size(Ap,1)
size(Ap,2)
M = zeros(3,2)
size(M,1)
size(M,2)
gopt
simulink
simout
plot(t, y)
plot(t, y, 'r', t, r, 'b')
figure(3);
bodemag(S, 'r', gopt/WS, 'r--', T, 'b', gopt/WT, 'b--');
ctrlpref
bodemag(S, 'r', gopt/WS, 'r--', T, 'b', gopt/WT, 'b--');
grid on
ctrlpref
figure(6);
plot(t, y, 'r', t, r, 'b')
grid on
figure(7);
bodemag(P0, 'r', K, 'b')
grid on
rub2
grid on
gopt
plot(t, y, 'r', t, r, 'b')
grid on
simulink
plot(t, y, 'r', t, r, 'b')
plot(t, y, 'r', t, n, 'b')
plot(t, y*10, 'r', t, n, 'b')
plot(t, y, 'r', t, n, 'b')
bodemag(P0, 'r', K, 'b')
grid on
bode(P0, 'r', K, 'b')
grid on
bode(P0, 'r', K, 'b', P0*K, 'm')
grid on
bode(P0, 'r', K, 'b', -P0*K, 'm')
grid on
size(K.a)
size(WS.a)
size(WT.a)
size(P0.a)

2009.12.3

2009.12.10 Speed control of two inertia system with servo motor (1/3)

2009.12.17 Speed control of two inertia system with servo motor (2/3)

  1. design your controller so that the system performance is improved compared with the given example
  2. Draw the following figures and explain the difference between two control systems:
    1. bode diagram of controllers
    2. gain characteristic of closed-loop systems
    3. time response of control experiment
  3. Why is the performance of your system improved(or unfortunately decreased)?
    • due date: 28th(Mon) Dec 17:00
    • submit your report by e-mail to kobayasi@nagaokaut.ac.jp(pdf or doc files is OK)
    • You can use Japanese
    • maximum controller order is 20
    • submit your cont.dat and cont_order.dat to kobayasi@nagaokaut.ac.jp until 24th Dec

2009.12.24 Speed control of two inertia system with servo motor (3/3)

related links


トップ   新規 一覧 検索 最終更新   ヘルプ   最終更新のRSS