1.2 Basic Digital Control System: Input To A Controlled System

1.
2 Basic digital control system

In a closed loop control system
o Input to a controlled system is determined as a function
of the system output & the reference i/p.
o There is a mechanism to sense the plant output.
o Controller is used to feed the desired input to the
system so as to achieve a desired goal
• Disturbance rejection
• Steady state error
• Transient performance
• Sensitivity to parameter variation
o Actuator drives the plant taking input from controller
Continued ……………..
Plant can be
• Linear or nonlinear
• Time variant or time invariant
Signals can be (response, sensor, desired)

• Continuous in space and time
• Discrete in space continuous in time
• Continuous in space but discrete in time
• Discrete in space and discrete in time
figure : basic digital feedback control s/m layout
where
𝑟 𝑡 : reference input / desired output
𝑦 𝑡 : controlled output / actual output
𝑒 𝑡 : error
𝑢 𝑡 : control input
𝐴/𝐷: Analog to Digital converter
𝐷/𝐴: Digital to Analog converter
 Regulation : process of holding 𝑦 𝑡 close to 𝑟 𝑡 .
 A s/m that has Good disturbance rejection
 Has good regulation in the presence of disturbance
signals.
 A s/m that has low sensitivity to parameter variations
Has good regulation in the face of changes in the
plant parameters.
 Robust s/m :
Has both Good disturbance rejection and low
sensitivity to parameter variations.
Steps in digital feedback realization
 Step 1- Analysis of closed loop system
• Modeling of the system
• Determining the control goals and the required control
efforts
 Step 2- design of digital controller
• Determine the required sensors and actuators
• Design the controller based on models
 Step 3- realization of digital controller
• Simulate the controller on model of the system
• Implement the controller using digital computer or
other hard ware
• Test the system performance
• Loop back
1.3 Description of discrete time systems
 Description of discrete time systems
a) Difference equation method
b) Transform method /Transfer function method/
c) Impulse response method
d) State space method
 Analysis of discrete time systems
 Analysis based on difference equation
 Analysis based on transform method
 Analysis using impulse response method
 Analysis using state space method
 Assume 𝑦 be the output of the s/m and 𝑢 be the input of
the system, then the system can be represented by the
following 4 methods.
a) Difference /recurrence/ equation method
o General form is
𝒚 𝒌 + 𝒂𝟏 𝒚 𝒌 − 𝟏 + 𝒂𝟐 𝒚 𝒌 − 𝟐 +. . . . +𝒂𝒏 𝒚 𝒌 − 𝒏 =
𝒃𝟎 𝒖 𝒌 + 𝒃𝟏 𝒖 𝒌 − 𝟏 + 𝒃𝟐 𝒖 𝒌 − 𝟐 +. . . . +𝒃𝒎 𝒖 𝒌 − 𝒎
o The initial conditions 𝑦(−1), 𝑦(−2) etc. should be given

o Difference equation may be obtained from differential
equations describing systems or continuous controllers.
b) Transfer method/Transfer function method/
o A transform method used for digital systems is Z
transform.
o It is a transform for number sequences.
o Similar to continuous time systems:
 transfer function of a discrete time system 𝐻(𝑧) is
given by the ratio of Z-transform of output 𝑦(𝑘) to
the Z transform of the input 𝑢(𝑘).
𝓏 𝑦(𝑘) 𝑌(𝑧)
𝐻 𝑧 = =
𝓏 𝑢(𝑘) 𝑈(𝑧)
Where 𝑦 𝑘 = 𝑢 𝑘 = 0 𝑓𝑜𝑟 𝑘 < 0

c) Impulse response method
 When the input to a discrete system is the unit
impulse sequence, the output of the system 𝒚(𝒌) =
𝒉(𝒌), assuming zero initial condition of system.
1 𝑓𝑜𝑟 𝑘 = 0
where 𝑢 𝑘 = 𝛿 𝑘 = ቊ
0 𝑓𝑜𝑟 𝑘 ≠ 0
d) State space method
• State equation is set of first order difference equations
• state space equation of discrete time systems is
𝑥 𝑘 + 1 = 𝐹𝑥 𝑘 + 𝐺𝑢 𝑘
y 𝑘 = 𝐶𝑥 𝑘 + 𝐷𝑢 𝑘
Discrete approximation to Integration
Suppose we have a continuous signal 𝑒(𝑡) of which a segment is
sketched in below and we wish to compute an approximation to the
integral
𝑡
𝐽 = ‫׬‬0 𝑒 𝑡 𝑑𝑡
using only the discrete values 𝑒(0) , 𝑒(1) , 𝑒(2) , . . . , 𝑒(𝑡𝑘−1 ), 𝑒 𝑡𝑘 .
1.4. Euler's method of digital approximation
 Euler’s method of Digital Approximation
 From the definition of derivative
∆𝑥(𝑡)
𝑥ሶ 𝑡 = lim
∆𝑡→0 ∆𝑡
Discrete approximation of a 1st order derivative of a

function is:
𝒙 𝒌+𝟏 −𝒙(𝒌)
𝒙ሶ 𝒕 ≅
𝑻
E.g. for a sampling period of 0.25 seconds, find the
discrete equivalent of:
𝒔−𝟐
a) 𝑯(𝒔) = 𝟏𝟎
𝒔+𝟒
b) 𝒖(𝒕)
ሷ + 𝟐𝒖ሶ 𝒕 = 𝒆(𝒕)
1.5. Constant coefficient Difference equations /CCDE/
 for a controller that have an input of 𝑒𝑘 and output of 𝑢𝑘 , the
𝑖𝑡ℎ o/p can be expressed by:
𝒖 𝒌 = −𝒂𝟏 𝒖 𝒌 − 𝟏 − 𝒂𝟐 𝒖 𝒌 − 𝟐 −. . . . −𝒂𝒏 𝒖 𝒌 − 𝒏 +
𝒃𝟎 𝒆 𝒌 + 𝒃𝟏 𝒆 𝒌 − 𝟏 + 𝒃𝟐 𝒆 𝒌 − 𝟐 +. . . . +𝒃𝒎 𝒆 𝒌 − 𝒎
 CCDE: a difference equation with constant coefficients.

 Stable s/m :
 have a decaying response with bound for any
finite initial conditions.
 All poles have a magnitude of less than 1.
 consider the following equation with no inputs.
𝒖 𝒌 =𝒖 𝒌−𝟏 +𝒖 𝒌−𝟐 ,𝒖 𝟎 =𝟎 ,𝒖 𝟏 =𝟏
Its solution can be obtained by defining an assumption and
solving it by using the initial conditions:
𝒖 𝒌 = 𝜷𝒁𝒌 , Z&𝜷 ≠𝟎
Finally,
𝒌 𝒌
𝟐 𝟓 𝟏 𝟓 𝟏 𝟓
⇒𝒖 𝒌 = + − −
𝟓 𝟐 𝟐 𝟐 𝟐
𝟏 𝟓
here since + > 1, the system is unstable.
𝟐 𝟐
1.6 Sample and Hold
Sampling
 process of converting a continuous analog signal to a
discrete signal.
 Modulation process in which a pulse train 𝒑(𝒕) with a
magnitude of 1Τ𝜎 and a period 𝑇 multiplies a
continuous function 𝒇(𝒕) and produces a sampled
function 𝑓 ∗ (𝑡).
Where 𝒑 𝒕 = σ∞
𝒌=𝟎 𝜹 𝒕 − 𝒌𝑻
 Sampler
 have infinite switching frequency
 output of the sampler 𝒇∗ (𝒕) is a series of impulse signals
whose amplitude is equal to the original signal 𝑓 𝑡 .
𝒇 𝒕 𝒇∗ (𝒕) = 𝒇 𝒌𝑻
𝒑 𝒕
Where 𝒇∗ (𝒕) = 𝒇(𝒕) ∗ 𝒑 𝒕
= 𝒇(𝒕) ∗ σ∞
𝒌=−∞ 𝜹 𝒕 − 𝒌𝑻
= σ∞
𝒌=−∞ 𝒇(𝒕) ∗ 𝜹 𝒕 − 𝒌𝑻
= 𝒇(𝒌𝑻)
T: sampling period / interval
𝜹: impulse function
In general,
𝒇 𝒌𝑻 = 𝒇(𝒕) ∗ 𝜹 𝒕 − 𝒌𝑻
o E.g. Find the sampled o/p of the following signals. {Assume
a sampling period f 2 seconds}.
a) 𝑓 𝑡 = 2𝑒 −𝑡
b) 𝑓 𝑡 = 1 𝑡 − 2(𝑡 − 2)
Sampled signals
 Easier to transmit
 Easily regenerated
 Easy for coding
 Can be easily multiplexed
Sampler is introduced to improve dynamic behavior of control
loop
 Better reliability
 Better sensitivity behavior
 Noise reduction
 Less weight
 Less hardware cost
 Less software/ maintenance cost
Sampled control
 Multiple use of expensive equipment
 Usually in controlled system data are available/ modified
in certain instants only {e.g., Radar control, chemical
analysis, }
 Naturally discrete {E.g. Stepping motor, encoders}
Continued……………………
Data hold
 converts the sampled analog signal into a continuous
time analog signal.
 approximates an ideal low pass filter
 three types of data hold circuits
• Zero order hold, first order hold and second
order hold.
 Zero order hold
 takes the value of the sampled analog signal at 𝑡 = 𝐾𝑇
and holds it constant for the time interval of 𝑘𝑇 ≤ 𝑡 <
(𝑘 + 1)𝑇.
o E.g. find the sampled and ZOH output of
𝑓 𝑡 =𝑟 𝑡 −2 𝑡−2
1.7 Digitization
Fig. Block diagram of continuous and discrete control systems

 Difference between the two implementations
Comparison Parameter Digital control s/m Continuous control s/m
Input to the controller Sampled digital signal Continuous analog signal
Dynamics representation Using difference 𝑒𝑞 𝑛 Using differential 𝑒𝑞 𝑛
Physical construction Using digital computers Using Analog Electronics.
1.8 Discrete TF of a continuous s/m
preceded by a ZOH
 Consider that the sampled input signals to the D/A converter

are unit impulse analog signal as the following:
𝟏 𝒇𝒐𝒓 𝒌 = 𝟎
𝒖 𝒌𝑻 = ቊ
𝟎 𝒆𝒍𝒔𝒆𝒘𝒉𝒆𝒓𝒆
Then the Discrete TF of a continuous s/m preceded by a ZOH
is:
𝑮(𝒔)
𝑮 𝒛 = 𝟏 − 𝒛−𝟏 ∗ 𝔃 𝓛−𝟏 ቚ
𝑺 𝒕=𝒌𝑻
𝟐
E.g.: Find the discrete TF of a continuous s/m 𝑮 𝒔 =
𝑺(𝑺+𝟒)
1.9 Analysis of Sample and Hold
Fig : A/D with Sample and Hold Circuit

1.10 Sampling operation by using Impulse
Modulation
 In the analysis of continuous signals, sampled signals can
be included by using Laplace transform technique.
 Consider the following sampler:
𝒇(𝒕) 𝒇∗ (𝒕) = 𝒇(𝒌𝑻)
Output of the sampler 𝑓 ∗ (𝑡) is
𝒇∗ (𝒕) = σ∞
𝒌=−∞ 𝒇 𝒕 ∗ 𝜹 𝒕 − 𝒌𝑻 = 𝒇 𝒌𝑻
Laplace Transform of the sampler output signal

𝓛 𝒇∗ (𝒕) = 𝑭∗ 𝒔 = σ∞
𝒌=−∞ 𝒇 𝒌𝑻 𝒆 −𝒔𝒌𝑻
 E.g.: Find the Laplace transform of the sampled o/p of a

unit step input signal to the sampler.

1.2 Basic Digital Control System: Input To A Controlled System

Uploaded by

Copyright:

Available Formats

1.2 Basic Digital Control System: Input To A Controlled System

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

1.2 Basic Digital Control System: Input To A Controlled System

Uploaded by

Copyright:

Available Formats

1.

2 Basic digital control system

Signals can be (response, sensor, desired)

o The initial conditions 𝑦(−1), 𝑦(−2) etc. should be given

Where 𝑦 𝑘 = 𝑢 𝑘 = 0 𝑓𝑜𝑟 𝑘 < 0

Discrete approximation of a 1st order derivative of a

 CCDE: a difference equation with constant coefficients.

Fig. Block diagram of continuous and discrete control systems

 Consider that the sampled input signals to the D/A converter

Fig : A/D with Sample and Hold Circuit

Laplace Transform of the sampler output signal

 E.g.: Find the Laplace transform of the sampled o/p of a

You might also like

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.