EE1104-01, 수요일 23, 24 (북)-이공대학 강의실3 정 우 용 자동제어공학 1주차 EE1104-01, 수요일 23, 24 (북)-이공대학 강의실3 정 우 용

Control System

제어의 종류 고전제어 현대제어 주파수영역 Approach Linear Time Invariant SISO System Root Locus PID Controller Phase lead-lag Controller Nyquist Bode Plot 현대제어 시간영역 Approach인 상태공간법 MIMO, Linear, Nonlinear, Time-varying system Pole-Placement Adaptive Control Robust Control Variable Structure System LQG/LTR Optimal Control H-infinite Control Learning and Intelligent Control Fuzzy Control LQG : Linear Quadratic Gaussian (uncertain linear systems disturbed by additive white Gaussian noise,) LTR : Loop transfer recovery

Organization Introduction Modeling Analysis & Design Applications Chap.1 Applications Advantages Design Objectives Introduction Frequency domain : Transfer function Chap.2) Time domain : State-space model(Chap.3) Reduction of Multiple subsystems(Chap.5) Modeling Chap.8 Stability (Chap.6) Transient response(Chap.4) (1st, 2nd order) Steady-state error (Chap.7) Higher order system -> Root Locus Tech. Analysis & Design 8장 adjusting the gain along the root locus 9장 cascade compensators 11장 Bode plots to parallel the root locus design process Design of compensators (root locus) Frequency Response (Nyquist and Bode Methods) Chap.9 Design of compensators (Sinusoidal frequency)

Basic components of a Control System Input Output Objectives Stimulus Desired Response Actuating Signals Results Response Actual Response Controlled Variable Controller Controlled Target Plant Control System Actuating Signal = Actual diffirence between the input and the output = error

Response Characteristics : Elevator input and output Transient response - Natural response : large Steady-state response – natural response : zero or oscillate Total response = Natural response + Forced response

Analysis and Design Objectives 제어 시스템의 해석과 설계의 목적은 원하는 과도 응답을 가지도록 하는 것, 정상상태 오차를 줄이는 것과 안정도를 보장하는 것이다. 1. Producing a desired transient response 2. Reducing steady-state error 3. Achieving stability Etc. cost, robust design, sensitivity of the system performance to changes in parameters ☞ 시스템이 안정하지 않은 경우, 과도응답과 정상상태 오차에 대한 해석과 설계는 의미가 없다.

The Control System Design Process Top-down design High level picture of requirements first

Antenna Azimuth Position Control System Step 1 Determine a physical system and specifications from requirements Step 2 Draw a functional block diagram Detailed layout Load and dimensions Input transducer, controller, hardware descriptions such as amplifiers and motors

Antenna Azimuth Position Control System Step 2 Draw a functional block diagram Step 3 Create a schematic Make approximations

Antenna Azimuth Position Control System Step 4 Develop a mathematical model (Block diagram) Transfer function State-space representation Step 5 Reduce the block diagram With a mathematical description

Antenna Azimuth Position Control System Step 6 Analyze and Design Response specifications Performance requirements