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spring of stiffness k is fixed at one end and attached to the mass at the other
control it.
spring's equilibirum. Moving the mass to the right (+x) will cause the spring
to pull the mass to the left. Moving the mass to the left of x = 0
causes the spring to push the mass to the right. In this ideal
system there is no damping so moving the mass to position x0 will cause the mass to oscillate between -x0 and
+x0.
Constant Mass
Modeling Stages
Devise a mathematical or
Stage I: physical model of the system to
be analyzed.
From the model, write the
Stage II:
equations of motion.
Evaluate the system response to
Stage III:
relevant specific excitation.
Upon examination of the free body diagram (FBD) the equation of motion for the system is
(2.1)
or
The solution to this simple harmonic motion equation is
(2.2)
where
A and B can be found by considering the initial conditions and the natural frequency . Substituting (2.2)
into (2.1)
rad/s
and
Now
at
thus
, and therefore
and
at
thus
, and therefore
that is,
(2.3)
System parameters control ω and the type of motion but not the amplitude. The mass is important but the
weight is not; so for a given system the natural frequency, ω, is independent of the local gravitational field.
(2.4)
, or Hz
(2.5)
seconds
State-Space Formulation
Using the equations of motion we can create a state-space model of the system.
where
is
and
where
is
is
is the output.
and
Controller Design
Simple Integrator
object)
>> cl = ol / (1 + ol);
>> [z, p, k] = zpkdata(cl, 'v')
z=0
0 +/- 0.3162i
p=0
0.4833 +/- 0.8949i
-0.9667
0.0000 +/- 0.3162i
k=1
PI-Lead
Figure 5: PI-Lead Controller
This author (Gabe) has seen a lot of 2nd order systems at work. Typically these systems are well controlled by a
PI-Lead controller. This type of controller combines a PI controller with a Lead Controller to improve the phase
where
integrator will give you approximately 20 dB per decade of rejection. Let's assume that a PI zero at 100 Hz will
The Lead controller is incorporated to improve phase margin. Phase margin is calculated at the open loop
crossover frequency so the peak phase improvement from the Lead controller should occur at approximately the
open loop crossover. The peak phase improvement occurs at the geometric mean. For the sake of this example
>> cl = ol / (1 + ol);
can be created. This system, without damping, is not really stable. The integrator and PI-Lead controls were
The main part of the 2nd order systems that is missing is the damping. Damping operates on the velocity of the
mass m. This example could be reformulated as a velocity control problem. When you wish to control position but
Notes
Beards, C. F. 1995 Engineering Vibration Analysis with Applications to Control Systems. ISBN 034063183X