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control system design guide.pdf

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    Cover
    Frontmatter
    Half Title Page
    Title Page
    Copyright
    Dedication Page
    Contents
    Preface
    Section I: Applied Principles of Controls
    Important Safety Guidelines for Readers
    1. Introduction to Controls
    1.1 Visual ModelQ Simulation Environment
    1.2 The Control System
    1.3 The Controls Engineer
    2. The Frequency Domain
    2.1 The Laplace Transform
    2.2 Transfer Functions
    2.3 Examples of Transfer Functions
    2.4 Block Diagrams
    2.5 Phase and Gain
    2.6 Measuring Performance
    2.7 Questions
    3. Tuning a Control System
    3.1 Closing Loops
    3.2 A Detailed Review of the Model
    3.3 The Open-Loop Method
    3.4 Margins of Stability
    3.5 A Zone-Based Tuning Procedure
    3.6 Variation in Plant Gain
    3.7 Multiple (Cascaded) Loops
    3.8 Saturation and Synchronization
    3.9 Questions
    4. Delay in Digital Controllers
    4.1 How Sampling Works
    4.2 Sources of Delay in Digital Systems
    4.3 Experiment 4A: Understanding Delay in Digital Control
    4.4 Selecting the Sample Time
    4.5 Questions
    5. The z-Domain
    5.1 Introduction to the z-Domain
    5.2 z Phasors
    5.3 Aliasing
    5.4 Experiment 5A: Aliasing
    5.5 From Transfer Function to Algorithm
    5.6 Functions for Digital Systems
    5.7 Reducing the Calculation Delay
    5.8 Selecting a Processor
    5.9 Quantization
    5.10 Questions
    6. Six Types of Controllers
    6.1 Tuning in This Chapter
    6.2 Using the Proportional Gain
    6.3 Using the Integral Gain
    6.4 Using the Differential Gain
    6.5 PID+ Control
    6.6 PD Control
    6.7 Choosing the Controller
    6.8 Experiments 6A–6F
    6.9 Questions
    7. Disturbance Response
    7.1 Disturbances
    7.2 Disturbance Response of a Velocity Controller
    7.3 Disturbance Decoupling
    7.4 Questions
    8. Feed-Forward
    8.1 Plant-Based Feed-Forward
    8.2 Feed-Forward and the Power Converter
    8.3 Delaying the Command Signal
    8.4 Variation in Plant and Power Converter Operation
    8.5 Feed-Forward for the Double-Integrating Plant
    8.6 Questions
    9. Filters in Control Systems
    9.1 Filters in Control Systems
    9.2 Filter Passband
    9.3 Implementation of Filters
    9.4 Questions
    10. Introduction to Observers in Control Systems
    10.1 Overview of Observers
    10.2 Experiments 10A–10C: Enhancing Stability with an Observer
    10.3 Filter Form of the Luenberger Observer
    10.4 Designing a Luenberger Observer
    10.5 Introduction to Tuning an Observer Compensator
    10.6 Questions
    Section II: Modeling
    11. Introduction to Modeling
    11.1 What Is a Model?
    11.2 Frequency-Domain Modeling
    11.3 Time-Domain Modeling
    11.4 Questions
    12. Nonlinear Behavior and Time Variation
    12.1 LTI Versus non-LTI
    12.2 Non-LTI Behavior
    12.3 Dealing with Nonlinear Behavior
    12.4 Ten Examples of Nonlinear Behavior
    12.5 Questions
    13. Seven Steps to Developing a Model
    13.1 Determine the Purpose of the Model
    13.2 Model in SI Units
    13.3 Identify the System
    13.4 Build the Block Diagram
    13.5 Select Frequency or Time Domain
    13.6 Write the Model Equations
    13.7 Verify the Model
    Section III: Motion Control
    14. Encoders and Resolvers
    14.1 Accuracy, Resolution, and Response
    14.2 Encoders
    14.3 Resolvers
    14.4 Position Resolution, Velocity Estimation, and Noise
    14.5 Alternatives for Increasing Resolution
    14.6 Cyclic Error and Torque/Velocity Ripple
    14.7 Experiment 14B: Cyclical Errors and Torque Ripple
    14.8 Choosing a Feedback Device
    14.9 Questions
    15. Basics of the Electric Servomotor and Drive
    15.1 Definition of a Drive
    15.2 Definition of a Servo System
    15.3 Basic Magnetics
    15.4 Electric Servomotors
    15.5 Permanent-Magnet (PM) Brush Motors
    15.6 Brushless PM Motors
    15.7 Six-Step Control of Brushless PM Motor
    15.8 Induction and Reluctance Motors
    15.9 Questions
    16. Compliance and Resonance
    16.1 Equations of Resonance
    16.2 Tuned Resonance vs. Inertial-Reduction Instability
    16.3 Curing Resonance
    16.4 Questions
    17. Position-Control Loops
    17.1 P/PI Position Control
    17.2 PI/P Position Control
    17.3 PID Position Control
    17.4 Comparison of Position Loops
    17.5 Bode Plots for Positioning Systems
    17.6 Questions
    18. Using the Luenberger Observer in Motion Control
    18.1 Applications Likely to Benefit from Observers
    18.2 Observing Velocity to Reduce Phase Lag
    18.3 Acceleration Feedback
    18.4 Questions
    Appendix A: Active Analog Implementation of Controller Elements
    Integrator
    Differentiator
    Lag Compensator
    Lead Compensator
    Lead-Lag Compensator
    Sallen-and-Key Low-Pass Filter
    Adjustable Notch Filter
    Appendix B: European Symbols for Block Diagrams
    Part I. Linear Functions
    Part II. Nonlinear Functions
    Appendix C: The Runge–Kutta Method
    The Runge–Kutta Algorithm
    Basic Version of the Runge–Kutta Algorithm
    C Programming Language Version of the Runge–Kutta Algorithm
    H-File for C Programming Language Version
    Appendix D: Development of the Bilinear Transformation
    Bilinear Transformation
    Prewarping
    Factoring Polynomials
    Phase Advancing
    Appendix E: The Parallel Form of Digital Algorithms
    Appendix F: Basic Matrix Math
    Matrix Summation
    Matrix Multiplication
    Matrix Scaling
    Matrix Inversion
    Appendix G: Answers to End–of–Chapter Questions
    Chapter 2
    Chapter 3
    Chapter 4
    Chapter 5
    Chapter 6
    Chapter 7
    Chapter 8
    Chapter 9
    Chapter 10
    Chapter 11
    Chapter 12
    Chapter 14
    Chapter 15
    Chapter 16
    Chapter 17
    Chapter 18
    References
    Index
    //SYS21/F:/PAGINATION/ELSEVIER US/CSDG/3B2/FINALS_03-01-04/PRELIMS.3D ± 1 ± [1±24/24] 12.1.2004 7:20PM Control System Design Guide
    //SYS21/F:/PAGINATION/ELSEVIER US/CSDG/3B2/FINALS_03-01-04/PRELIMS.3D ± 2 ± [1±24/24] 12.1.2004 7:20PM
    //SYS21/F:/PAGINATION/ELSEVIER US/CSDG/3B2/FINALS_03-01-04/PRELIMS.3D ± 3 ± [1±24/24] 12.1.2004 7:20PM Control System Design Guide A Practical Guide George Ellis Danaher Corporation Amsterdam Boston Heidelberg London New York Oxford Paris San Diego San Francisco Singapore Sydney Tokyo
    //SYS21/F:/PAGINATION/ELSEVIER US/CSDG/3B2/FINALS_03-01-04/PRELIMS.3D ± 4 ± [1±24/24] 12.1.2004 7:20PM Elsevier Academic Press 525 B Street, Suite 1900, San Diego, California 92101-4495, USA 84 Theobald's Road, London WC1X 8RR, UK This book is printed on acid-free paper. Copyright # 2004, Elsevier Inc. All rights reserved. No part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Permissions may be sought directly from Elsevier's Science & Technology Rights Department in Oxford, UK: phone: (‡44) 1865 843830, fax: (‡44) 1865 853333, e-mail: permissions@elsevier.com.uk. You may also complete your request on-line via the Elsevier homepage (http://elsevier.com), by selecting ``Customer Support'' and then ``Obtaining Permissions.'' Library of Congress Cataloging-in-Publication Data Ellis, George (George H.) Control system design guide: a practical guide/George Ellis.Ð3rd ed. p. cm. ISBN 0-12-237461-4 (hardcover : alk. paper) 1. Automatic control. TJ213.E5625 2003 629.803Ðdc22 2. System design. I. Title. 2003023742 British Library Cataloguing in Publication Data A catalogue record for this book is available from the British Library ISBN: 0-12-237461-4 For all information on all Academic Press publications visit our website at www.academicpress.com Printed in the United States of America 04 06 07 05 08 09 9 8 7 6 5 4 3 2 1
    //SYS21/F:/PAGINATION/ELSEVIER US/CSDG/3B2/FINALS_03-01-04/PRELIMS.3D ± 5 ± [1±24/24] 12.1.2004 7:20PM To my loving wife, LeeAnn, and to Gretchen and Brandon, who both make us proud.
    //SYS21/F:/PAGINATION/ELSEVIER US/CSDG/3B2/FINALS_03-01-04/PRELIMS.3D ± 6 ± [1±24/24] 12.1.2004 7:20PM
    //SYS21/F:/PAGINATION/ELSEVIER US/CSDG/3B2/FINALS_03-01-04/PRELIMS.3D ± 7 ± [1±24/24] 12.1.2004 7:20PM Contents Preface Section I Applied Principles of Controls Important Safety Guidelines for Readers Chapter 1 Introduction to Controls 1.1 Visual ModelQ Simulation Environment Installation of Visual ModelQ 1.1.1 1.1.2 Errata Chapter 2 1.2 The Control System 1.2.1 The Controller 1.2.2 The Machine 1.3 The Controls Engineer The Frequency Domain 2.1 The Laplace Transform 2.2 Transfer Functions 2.2.1 What Is s? 2.2.1.1 DC Gain 2.2.2 Linearity, Time Invariance, and Transfer Functions 2.3 Examples of Transfer Functions 2.3.1 Transfer Functions of Controller Elements 2.3.1.1 Integration and Differentiation 2.3.1.2 Filters 2.3.1.3 Compensators 2.3.1.4 Delays xxi 1 3 5 6 6 6 7 7 8 8 11 11 12 12 13 13 14 15 15 15 15 15 vii
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