Controller design for a position control

Transkript

1 SIMEC Exercie FH Ravenburg-Weingarten Exercie 7: Controller deign for a poition control In Exercie 5 a model of a poition control with a P-controller wa imulated with Simulink. The control will now be improved uing the control-toolbox of Matlab for controller deign. For each controller following tep mut be done: Firt the model of the controlled ytem will be exported directly from Simulink. Delete the controller and ue the input and output point to define the input and the output of the ytem. Next tep a controller i deigned uing the control toolbox. Finally the controller will be teted inide Simulink. Examine in Simulink the influence of a limited controller output and a limited motor current. Tak: Simulink model of a drive a) Replace the P controller with a PID-Controller. Compare the reult with the P controller. b) Build a cacade controller for the poition control. The inner loop are the motor current, and the velocity. Compare the reult with the P and PID controller. Document and print your work uing word. Prof. Dr.-Ing. K. Wöllhaf /9 DriveModelControlled2.doc

2 SIMEC Exercie FH Ravenburg-Weingarten Add the output and input point to the open loop model uing the Input and Output point from the Simulink Library. Call the Lti-Viewer Import the model from Simulink Prof. Dr.-Ing. K. Wöllhaf 2/9 DriveModelControlled2.doc

3 SIMEC Exercie FH Ravenburg-Weingarten Check the tep-repone and the bode diagram in the LTI-Viewer Select the diagram type Export the model to Matlab-Workpace Prof. Dr.-Ing. K. Wöllhaf 3/9 DriveModelControlled2.doc

4 SIMEC Exercie FH Ravenburg-Weingarten Select model and Export to Workpace Inide the workpace the model will be tranfered to a tranfer function: Now the controller i deigned with the control toolbox. Here we ue the iotool The iotool tart: Prof. Dr.-Ing. K. Wöllhaf 4/9 DriveModelControlled2.doc

5 SIMEC Exercie FH Ravenburg-Weingarten Now the PID controller i deigned inide the iotool uing the root locu and the open-loop bode diagram. Deign a real, not an ideal PID controller. That mean that the order of the numinator hould not be greater than the donominator. Prof. Dr.-Ing. K. Wöllhaf 5/9 DriveModelControlled2.doc

6 SIMEC Exercie FH Ravenburg-Weingarten We get e. g. the cloed loop tep repone. Thi controller i exported to the workpace: Prof. Dr.-Ing. K. Wöllhaf 6/9 DriveModelControlled2.doc

7 SIMEC Exercie FH Ravenburg-Weingarten Inide the export dialog the component mut be elected and the name may be changed to MYPIDController. Now the tranfer-function of the contoller i available a a tranfer function inide the Matlab workpace. Inide Simulink thi controller can directly be ued by adding the LTI-Sytem from the Simulink library Prof. Dr.-Ing. K. Wöllhaf 7/9 DriveModelControlled2.doc

8 SIMEC Exercie FH Ravenburg-Weingarten Thi block i added to the model. The tranfer-function of the contoller i ued a block parameter. The model i imulated and afterward compared with the P-Controller. The new controller i much fater when the old one. Prof. Dr.-Ing. K. Wöllhaf 8/9 DriveModelControlled2.doc

9 SIMEC Exercie FH Ravenburg-Weingarten The comparion i done uing thi tructure: Prof. Dr.-Ing. K. Wöllhaf 9/9 DriveModelControlled2.doc

10 Simulation of Mechatronic Sytem Marc Baumann Matr.: 3855 P7 Exercie 7: Controller deign for a poition control a) - Löchen de vorhanden P- Regler und der Rückkopplung (offener RK!!) - Einfügen von Input und Output - Point in da vorhandene Model (au Control Sytem Toolbox) - Aufruf de LTI-Viewer (Tool / Linear analye) - Aufruf de Lineariierten Model (in LTI-Viewer Simulink / Get Linearized Model) - Auwählen der Plotfenter (Edit / Plot Configuration) - Exportieren de Model in Matlab-Workpace (File / Export) Die exportierte Variable it die Zutandraumdartellung - Umwandlung der Zutandraumdartellung in eine Tranferfunktion Go=tf(variablenname) - Aufruf von iotool(go) alpha Input 0.23e-3 L Product R 2.4 i 23.4e-6 K 0.49e-5 D 0.23e-6 J Product2 a a2 Output Scope 23.4e-6 K - Reglerentwurf mit Siotool Seite von 4

11 Simulation of Mechatronic Sytem Marc Baumann Matr.: 3855 P7 - Exportieren de entworfenen Regler nach Matlab-Workpace (File / Export) Achtung: innvollen Namen geben Exportierter Regler it in Tranferfunktion - Einfügen de entworfenen Regler in Simulink mittel LTI Block Vergleich de PDI-Regler mit dem P-Regler: alpha -K- Kp 0.23e-3 L Product R 2.4 i 23.4e-6 K 0.49e-5 D 0.23e-6 J Product2 a a2 Scope 23.4e-6 K Myregler LTI Sytem 0.23e-3 L Product3 R 2.4 i2 23.4e-6 K3 0.49e-5 D 0.23e-6 J Product4 a3 a4 23.4e-6 K2 P-Regler: Kp=8 PID-Regler: Kp=0.48 Seite 2 von 4

12 Simulation of Mechatronic Sytem Marc Baumann Matr.: 3855 P7 PID-Regler: Kp=0.48 b) Entwurf einer Kakadenregelung Seite 3 von 4

13 Simulation of Mechatronic Sytem Marc Baumann Matr.: 3855 P7 b) Kakadenreglung Innerer Stromregelkrei Bedingung für eine Kakakadenregelung : Der Innere Regelkrei ollte etwa 0 mal o chnell ein wie der Äußere Regelkrei p: ( Der Reglerentwurf wird nach den Prüfungen durchgeführt) Seite 4 von 4