Overview
Context
Changes
Added mttroot/mtt/lib/comp/compound/Control/Collocated/PDe/PDe_abg.fig version [2d2d27440d].
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#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
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Added mttroot/mtt/lib/comp/compound/Control/Collocated/PDe/PDe_desc.tex version [69137e29ad].
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% -*-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.
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Added mttroot/mtt/lib/comp/compound/Control/Collocated/PDe/PDe_lbl.txt version [39ef22df22].
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%% 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
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