6.

003: Signals and Systems

CT Feedback and Control

October 20, 2011

1

Mid-term Examination #2
Wednesday, October 26, 7:30-9:30pm, No recitations on the day of the exam. Coverage: Lectures 112 Recitations 112 Homeworks 17

Homework 7 will not be collected or graded. Solutions will be posted. Closed book: 2 pages of notes (8 1 2 11 inches; front and back). No calculators, computers, cell phones, music players, or other aids. Designed as 1-hour exam; two hours to complete. Review sessions during open oce hours. Conict? Contact before Friday, Oct. 21, 5pm.
2

Feedback and Control

Feedback: simple, elegant, and robust framework for control.

E
controller

C
plant

S
sensor

Last time: robotic driving.

di = desiredFront do = distanceFront
3

Feedback and Control

Using feedback to enhance performance. Examples: increasing speed and bandwidth controlling position instead of speed reducing sensitivity to parameter variation reducing distortion stabilizing unstable systems magnetic levitation inverted pendulum

Op-amps
An ideal op-amp has many desireable characteristics.

V+ K V

Vo = K (V+ V )

high speed large bandwidth high input impedance low output impedance ...

It is dicult to build a circuit with all of these features.

Op-Amp
The gain of an op-amp depends on frequency.

|K (j )| [log scale]

105 104 103 102 1 0 2 1 10 102 103 104 105 106 [log scale] 10 102 103 104 105 106 [log scale]

Frequency dependence of LM741 op-amp.

6

K (j )|

Op-Amp
Low-gain at high frequencies limits applications.

|K (j )| [log scale]

105 104 103 102 1 0 2 1 10 102 10 102

audio frequencies

[log scale] 103 104 105 106

K (j )|

[log scale] 103 104 105 106

Unacceptable frequency response for an audio amplier.

7

Op-Amp
An ideal op-amp has fast time response.

Vi K Vo

Step response:

Vi (t) = u(t) 1 t

Vo (t) = s(t) A t

Check Yourself

Determine for the unit-step response s(t) of an LM741.

K (j )| |K (j )| [log scale] 105 104 103 102 0 2 1 10 102 103 [log scale] 104 105

s(t) A t
[seconds]

1. 40 s

40 s 2. 2

1 s 3. 40

4. 2 40 s

1 5. 2 40 s

0. none of the above

9

Check Yourself
Determine the step response of an LM741. System function: K0 K (s) = s+ Impulse response: h(t) = K0 et u(t) Step response:
t t

s(t) =

h( )d =
0

K0 e d =

K0 e = K0 (1 et )u(t) 0

Parameters: A = K0 = 2 105 1 1 s = = 40
10

Check Yourself

Determine for the unit-step response s(t) of an LM741.

K (j )| |K (j )| [log scale] 105 104 103 102 0 2 1 10 102 103 [log scale] 104 105

s(t) A t
[seconds]

1. 40 s

40 s 2. 2

1 s 3. 40

4. 2 40 s

1 5. 2 40 s

0. none of the above

11

Op-Amp
Performance parameters for real op-amps fall short of the ideal. Frequency Response: high gain but only at low frequencies.

|K (j )| [log scale]

105 104 103 102 1 10 102

audio frequencies

[log scale] 103 104 105 106

Step Response: slow by electronic standards.

2 105 t [seconds] 1/40

12

Op-Amp
We can use feedback to improve performance of op-amps. circuit 6.003 model

Vi

K (s) R1 V0 R2

Vo

Vi

K (s)

Vo

K (s) Vo = Vi 1 + K (s) V = Vo = R2 R1 + R2 Vo

13

Dominant Pole
Op-amps are designed to have a dominant pole at low frequencies: simplies the application of feedback.

s-plane

40

= 40 rad/s =

40 rad/s 6.4 Hz 2 rad/cycle

14

Improving Performance
Using feedback to improve performance parameters. circuit 6.003 model

Vi

K (s) R1 V0 R2

Vo

Vi

K (s)

Vo

V = Vo =

R2 R1 + R2

K (s) Vo = Vi 1 + K (s) Vo = =
15

K0 s+ 0 1 + K s+

K0 s + + K0

Check Yourself

What is the most negative value of the closed-loop pole that can be achieved with feedback?

s-plane

1. (1 + ) 2. (1 + K0 ) 3. (1 + K0 ) 4. 5. none of the above

16

Improving Performance
Using feedback to improve performance parameters. circuit 6.003 model

Vi

K (s) R1 V0 R2

Vo

Vi

K (s)

Vo

V = Vo =

R2 R1 + R2

K (s) Vo = Vi 1 + K (s) Vo = =
17

K0 s+ 0 1 + K s+

K0 s + + K0

Check Yourself
What is the most negative value of the closed-loop pole that can be achieved with feedback? Open loop system function: pole: s = . Closed-loop system function: pole: s = (1 + K0 ). The feedback constant is 0 1. most negative value of the closed-loop pole is s = (1 + K0 ). K0 s + + K0 K0 s+

18

Check Yourself

What is the most negative value of the closed-loop pole that can be achieved with feedback? 3

s-plane

(1 + K0 )

1. (1 + ) 2. (1 + K0 ) 3. (1 + K0 ) 4. 5. none of the above

19

Improving Performance
Feedback extends frequency response by a factor of 1 + K0 (K0 = 2 105 ).

|H (j )| [log scale] |H (j 0)|

1 0.1 0.01 0.001 1 0 2 1 10 102 103 104 105 106 10 102 103 104 105 106 [log scale] 1 + K0 [log scale] 1 + K0

H (j )|

20

Improving Performance
Feedback produces higher bandwidths by reducing the gain at low frequencies. It trades gain for bandwidth.

= 0 (open loop) 105 |H (j )| [log scale] 104 103 102 10 1 0.1 [log scale] 1 102 104
21

= 104

= 102

=1

106

108

Improving Performance
Feedback makes the time response faster by a factor of 1 + K0 (K0 = 2 105 ). Step response s(t) = K0 (1 e(1+K0 )t )u(t) 1 + K0

K0 1 + K0

s(t) =1 =0 t [seconds] 1/40

22

Improving Performance
Feedback produces faster responses by reducing the nal value of the step response. It trades gain for speed. Step response s(t) = K0 (1 e(1+K0 )t )u(t) 1 + K0

s(t) 2 105

0 0.5 105 1.5 105 t [seconds] 1/40

ds(t) is not increased. dt t=0+

The maximum rate of voltage change

23

Improving Performance
Feedback improves performance parameters of op-amp circuits. can extend frequency response can increase speed

Performance enhancements are achieved through a reduction of gain.

24

Motor Controller
We wish to build a robot arm (actually its elbow). The input should be voltage v (t), and the output should be the elbow angle (t).

v (t)

robotic arm

(t) v (t)

We wish to build the robot arm with a DC motor.

v (t)

DC motor

(t)

This problem is similar to the head-turning servo in 6.01 !

25

Check Yourself

What is the relation between v (t) and (t) for a DC motor?

v (t)

DC motor

(t)

1. 2. 3. 4. 5.

(t) v (t) cos (t) v (t) (t) v (t) cos (t) v (t) none of the above

26

Check Yourself
What is the relation between v (t) and (t) for a DC motor? (t) of a DC motor is proportional To rst order, the rotational speed to the input voltage v (t).

v (t) v (t)

DC motor

(t) (t)

t
First-order model: integrator

A
27

Check Yourself

What is the relation between v (t) and (t) for a DC motor?

v (t)

DC motor

(t)

1. 2. 3. 4. 5.

(t) v (t) cos (t) v (t) (t) v (t) cos (t) v (t) none of the above

28

Motor Controller
Use proportional feedback to control the angle of the motors shaft. amplier DC motor

v (t)

(t)

feedback (potentiometer) 1 A s = = = 1 V 1 + A s + 1 + s

29

Motor Controller
The closed loop system has a single pole at s = . = V s +

s-plane

As increases, the closed-loop pole becomes increasingly negative.

30

Motor Controller
Find the impulse and step response. The system function is = . V s + The impulse response is h(t) = et u(t) and the step response is therefore 1p s(t) = 1 et u(t) .

(t) 1 t

The response is faster for larger values of . Try it: Demo.

31

Motor Controller
The speed of a DC motor does not change instantly if the voltage is stepped. There is lag due to rotational inertia. First-order model integrator Second-order model integrator with lag

pA 1 + pA

Step response of the models:

v (t) 1 t

(t) 1 (t) = tu(t) pt ) u(t) 2 (t) = t p (1 e t

32

Motor Controller
Analyze second-order model. amplier DC motor pA2 1 + pA

v (t)

(t)

feedback (potentiometer) p pA2 1+pA = = 2 2 = s2 + ps + p pA V 1 + pA + p A 1 + 1+pA pp 2 p s= p 2 2

pA2

33

Motor Controller
For second-order model, increasing causes the poles at 0 and p to approach each other, collide at s = p/2, then split into two poles with imaginary parts.

s-plane

Increasing the gain does not increase speed of convergence.

34

Motor Controller
Step response.

s(t)

35

Motor Controller
Step response.

s(t)

36

Motor Controller
Step response.

s(t)

37

Motor Controller
Step response.

s(t)

38

Motor Controller
Step response.

s(t)

ept/2 cos(d t + )

39

Feedback and Control: Summary

CT feedback is useful for many reasons. Today we saw two: increasing speed and bandwidth controlling position instead of speed

Next time we will look at several others: reduce sensitivity to parameter variation reduce distortion stabilize unstable systems magnetic levitation inverted pendulum

40

MIT OpenCourseWare http://ocw.mit.edu

6.003 Signals and Systems

Fall 2011

For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms.