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| Application of Automatic Control |
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Definition
| to alter the dynamic behavior of a system and/or reduce effect disturbances |
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Definition
| Create a stabilizing feedback system to position inertia/mass at a specified location within a certain time and accuracy |
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Definition
| used to assess stability, disturbance rejection and robustness of a system |
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Definition
| real-time controller: contains ADC, DSP, DAC & amplifiers |
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Definition
| Software to control the actuator(s) and encoder(s) of the lumped mass system |
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Definition
Damped Resonance Frequency
2pi(n/(t_n - t_0)) |
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Definition
Exponential Decay Term
(1/(t_n - t_0))ln((y_0 - y_inf)/(y_n - y_inf)) |
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Definition
Natural (undamped) Resonance Frequency
sqrt(w_d^2 + Bw_n^2) |
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Definition
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Definition
Stiffness Constant
U/y_inf (U = step size) |
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Definition
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Definition
Damping Constant
k * 2B/w_n |
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Definition
Validate estimation of 1 DOF parameters (m, k, d, etc.) by comparing experimental data with simulated data (do simulation first)
Validate complete set of model parameters (m1, d1, k1 and m2, d2, k2)
Verify resonance and possible anti-resonance modes by exciting system with sinusoidal inputs based off resosnance freqs. |
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| Feedback Controller Requirements |
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Definition
-moves a mass/inertia to a certain (angular) position as fast as possible
-limit overshoot to 25% of step value
-no steady-state error (e) (e = (final experimental value - step value)/step value)
-show disturbance rejection when control is implemented (robustness) |
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Term
| Types of Controller Implementation |
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Definition
P - Gain only [K(s) = k_p/(ts + 1) 0
PD - Derivative and Gain Control
[K(s) = (kd*s +kp)/(ts + 1)
PID - Gain, Derivative and Integral Control
[K(s) = (kd*s^2 +kp*s + ki)/(s*(ts + 1)) |
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Definition
Root Locus - computing and graphing solutions of L(s) = -1
Nyquist or Frequency Domain Method - see if Nyquist plot encircles the point -1 (unstable if true) |
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Definition
Used to determine steady state error
lim_(t -> inf) e(t) = lim (s -> 0) s*E(s) |
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