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2006 | Buch

Continuous Control Systems: A Review Kapitel lesen Erstes Kapitel lesen

Digital Control Systems

Design, Identification and Implementation

verfasst von: Ioan D. Landau, Zito Gianluca

Verlag: Springer London

Buchreihe : Communications and Control Engineering

Enthalten in: Springer Professional "Wirtschaft+Technik" , Springer Professional "Technik"

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Über dieses Buch

The extraordinary development of digital computers (microprocessors, microcontrollers) and their extensive use in control systems in all fields of applications has brought about important changes in the design of control systems. Their performance and their low cost make them suitable for use in control systems of various kinds which demand far better capabilities and performances than those provided by analog controllers. However, in order really to take advantage of the capabilities of microprocessors, it is not enough to reproduce the behavior of analog (PID) controllers. One needs to implement specific and high-performance model based control techniques developed for computer-controlled systems (techniques that have been extensively tested in practice). In this context identification of a plant dynamic model from data is a fundamental step in the design of the control system. The book takes into account the fact that the association of books with software and on-line material is radically changing the teaching methods of the control discipline. Despite its interactive character, computer-aided control design software requires the understanding of a number of concepts in order to be used efficiently. The use of software for illustrating the various concepts and algorithms helps understanding and rapidly gives a feeling of the various phenomena.

Inhaltsverzeichnis

Frontmatter
Continuous Control Systems: A Review
Abstract
The aim of this chapter is to review briefly the main concepts of continuous control systems. The presentation is such that it will permit at a later stage an easy transition to digital control systems.
The subject matter handled relates to the description of continuous-time models in the time and frequency domains, the properties of closed-loop systems and PI and PID controllers.
Computer Control Systems
Abstract
In this chapter we present the elements and the basic concepts of computercontrolled systems. The discretization and choice of sampling frequency will be first examined, followed by a study of discrete-time models in the time and frequency domains, discrete-time systems in closed loop and basic principles for designing digital controllers.
Robust Digital Controller Design Methods
Abstract
In this chapter the design of model based robust digital controllers is discussed. The design of digital PID controllers is first presented, emphasizing the general structure of digital controllers (three branched structure known as RST), the special features of the digital approach and the limitations of the digital PID. The following design methods are then presented: pole placement, tracking and regulation with independent objectives and tracking and regulation with internal model control. The presentation is done from the perspective of robust control. These methods permit the control of systems of any order with or without time delay. The last section of the chapter presents a general methodology for the design of robust digital controllers by means of sensitivity functions shaping.
Design of Digital Controllers in the Presence of Random Disturbances
Abstract
A large number of systems are subject to disturbances of a random nature. In the first part of this chapter models suitable for the representation of these stochastic disturbances (the ARMAX models) will be presented and their properties analyzed. Three design methods will be presented: 1. minimum variance tracking and regulation (which minimizes the mean-square difference between the reference and the controlled variable); 2. the approximation of the minimum variance tracking and regulation by means of the pole placement (for the case of systems with unstable zeros); 3. generalized minimum variance tracking and regulation.
System Identification: The Bases
Abstract
In this chapter the basic principles of identification of dynamic systems are first introduced. This is followed by a presentation of the main types of parameter adaptation algorithms used in recursive identification methods. The choice of input signals for identification and the influence of disturbances is also discussed. The last section presents the general structure of recursive identification methods.
System Identification Methods
Abstract
In this chapter two categories of identification methods: (1)methods based on the whitening of the prediction error; (2) methods based on the uncorrelation of the observation vector and the prediction error, are presented in their recursive form together with the corresponding model validation techniques.
Practical Aspects of System Identification
Abstract
This chapter reviews a variety of practical aspects concerning system identification. Several identification examples are presented, using both simulated data and real data from several plants (air heater, distillation column, DC motor, flexible transmission).
Practical Aspects of Digital Control
Abstract
Digital controller design methods and system identification techniques provide the basic tools for effectively solving a control problem. The final stages in the controller design are emphasized in this chapter. This involves implementation aspects, performance specifications and the interaction between plant identification and controller design.
The first part of the chapter reviews several topics related to the implementation of digital controllers: effect of the digital-to-analog conversion, effect of saturations, effect of the computational delay, manual to automatic switching, cascade control, performance evaluation, adaptation of controller parameters, the hardware for controllers implementation.
In the second part of the chapter, the joint use of system identification and controller design is illustrated through several examples:
  • Temperature control of an air heater
  • Speed control of a DC motor
  • Cascade position control of a DC motor
  • Position control through a flexible transmission
  • Position control of a 360° flexible robot arm
  • Deposited zinc control in hot-dip galvanizing (SOLLAC-Florange)
Identification in Closed Loop
Abstract
The techniques for model identification of plants operating in closed loop together with the corresponding validation techniques are presented in this chapter. The possibilities offered by the identification in closed loop for obtaining improved models for controller re-design leading to better performance are illustrated in the final part of the chapter.
Reduction of Controller Complexity
Abstract
Controller complexity reduction is an issue in many applications. Techniques for controller complexity (order) reduction based on the estimation in closed loop of a reduced order controller will be presented. Methods for the validation of the estimated reduced order controllers are also presented. The use of these techniques is illustrated by their application to the complexity reduction of a controller for a flexible transmission.
Backmatter
Metadaten
Titel
Digital Control Systems
verfasst von
Ioan D. Landau
Zito Gianluca
Copyright-Jahr
2006
Verlag
Springer London
Electronic ISBN
978-1-84628-056-6
Print ISBN
978-1-84628-055-9
DOI
https://doi.org/10.1007/978-1-84628-056-6

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