Overview
Comment: | New P+D controller for collocated use and effort output |
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Downloads: | Tarball | ZIP archive | SQL archive |
Timelines: | family | ancestors | descendants | both | origin/master | trunk |
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SHA3-256: |
bb4060a00e671a354719d0df4d33c924 |
User & Date: | gawthrop@users.sourceforge.net on 2001-05-01 14:16:06 |
Other Links: | branch diff | manifest | tags |
Context
2001-05-01
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14:19:07 | Physiological systems used for Teaching Control V at Glasgow check-in: 45bb5253a4 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
14:16:06 | New P+D controller for collocated use and effort output check-in: bb4060a00e user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
2001-04-30
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03:02:52 | Stripped template stuff. check-in: 100c579558 user: geraint@users.sourceforge.net tags: origin/master, trunk | |
Changes
Added mttroot/mtt/lib/comp/compound/Control/Collocated/PDe/PDe_abg.fig version [2d2d27440d].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 | #FIG 3.2 Portrait Center Metric A4 100.00 Single -2 1200 2 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 1575 3375 2925 3375 2700 3600 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 3375 3375 4725 3375 4500 3600 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 4950 3150 4950 1800 5175 2025 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 5175 3375 6525 3375 6300 3600 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3 3150 3150 3150 1800 3375 2025 2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2 6525 3150 6525 3600 2 4 0 2 31 7 51 0 -1 0.000 0 0 7 0 0 5 7875 4275 7875 900 450 900 450 4275 7875 4275 4 1 0 100 0 18 18 0.0000 4 195 150 3150 3465 0\001 4 1 0 100 0 18 18 0.0000 4 195 150 4950 3465 1\001 4 2 4 100 0 18 18 0.0000 4 270 870 1530 3465 SS:[in]\001 4 0 4 100 0 18 18 0.0000 4 270 1065 6660 3465 SS:[out]\001 4 1 0 100 0 18 18 0.0000 4 270 780 3150 1665 C:k_p\001 4 1 0 100 0 18 18 0.0000 4 270 765 4950 1665 R:k_d\001 |
Added mttroot/mtt/lib/comp/compound/Control/Collocated/PDe/PDe_desc.tex version [69137e29ad].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 | % -*-latex-*- Put EMACS into LaTeX-mode % Verbal description for system PDe (PDe_desc.tex) % Generated by MTT on Tue May 1 09:26:33 BST 2001. % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% Version control history % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% $Id$ % %% $Log$ % %% Revision 1.1 2000/12/28 09:13:38 peterg % %% Initial revision % %% % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% The acausal bond graph of system \textbf{PDe} is displayed in Figure \Ref{fig:PDe_abg.ps} and its label file is listed in Section \Ref{sec:PDe_lbl}. The subsystems are listed in Section \Ref{sec:PDe_sub}. This is a proportional + derivative (PD) controller for a collocated sutuation where the control signal is an effort and the measured signal is a (collocated) flow. The controller can be thought of as controlling \emph{integated flow}, and it is with respect to this that the P and D terms are defined. The setpoint is a \emph{flow}; and must be generated to give the desired \emph{integrated} flow. Physically, the controller is a \textbf{C} and an \textbf{R} component - for mechanical systems a mass and a spring. Mathematically, in integral causality, the equations are: %file: pde_{dae}.tex %differential-algebraic equations \begin{equation} \begin{aligned} \dot x_{1} &= { f_d - f } \end{aligned} \end{equation} \begin{equation} \begin{aligned} u &= { - k_{d} f + k_{p} x_{1} } \end{aligned} \end{equation} The state $x_1$ is the the integrated difference between \emph{desired} flow $f_d$ and the actual flow $f$. Thus the control signal $u$ is $k_p$ multiplied by the position error minus $k_d$ time the flow. |
Added mttroot/mtt/lib/comp/compound/Control/Collocated/PDe/PDe_lbl.txt version [39ef22df22].
> > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > > | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 | %% Label file for system PDe (PDe_lbl.txt) %SUMMARY PDe: Proportional + Derivative controller with effort output %DESCRIPTION % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% Version control history % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % %% $Id$ % %% $Log$ % %% Revision 1.1 2000/12/28 09:13:38 peterg % %% Initial revision % %% % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% % Port aliases %ALIAS in in %ALIAS out out % Argument aliases %ALIAS $1 k_p %ALIAS $2 k_d %% Each line should be of one of the following forms: % a comment (ie starting with %) % component-name cr_name arg1,arg2,..argn % blank % ---- Component labels ---- % Component type C k_p lin state,k_p % Component type R k_d lin flow,k_d % Component type SS [in] SS internal,external [out] SS external,external |