Читать книгу PID Control System Design and Automatic Tuning using MATLAB/Simulink - Liuping Wang - Страница 4

1 Chapter 1Figure 1.1 Proportional feedback control system.Figure 1.2 Closed-loop step response of a proportional control system (Examp...Figure 1.3 Proportional plus derivative feedback control system ().Figure 1.4 PD controller structure in implementation.Figure 1.5 PI control system.Figure 1.6 Closed-loop step response of a PI control system (Example 1.2).Figure 1.7 IP controller structure.Figure 1.8 Closed-loop step response of PI control system (Example 1.3). Key...Figure 1.9 PID controller structure.Figure 1.10 IPD controller structure.Figure 1.11 Step responses of PID control system (Example 1.4). (a) Response...Figure 1.12 Sustained closed-loop oscillation (control signal).Figure 1.13 Comparison of closed-loop output response using Ziegler–Nichols ...Figure 1.14 Step response data. (a) Input signal. (b) Output signal. Key: li...Figure 1.15 Unit step response (Example 1.6)Figure 1.16 Closed-loop unit step response with PI controller (Example 1.6)....Figure 1.17 Unit step response (Example 1.7).Figure 1.18 Closed-loop unit step response with PI controller (Example 1.7)....Figure 1.19 Comparison of closed-loop responses using Padula and Visioli PI ...Figure 1.20 Comparison of closed-loop responses using Padula and Visioli PID...Figure 1.21 Unit step response of the fired heater process.Figure 1.22 Comparison of closed-loop responses using Ziegler–Nichols and Wa...

2 Chapter 2Figure 2.1 Closed-loop control system in transfer function form.Figure 2.2 Nyquist plot with a unit circle for illustration of gain margin a...Figure 2.3 Magnitude of (solid line) together with dashed line to determin...Figure 2.4 Nyquist plots with a unit circle (Example 2.3). Key: line (1) u...Figure 2.5 Nyquist plots for the modified controller with a unit circle (Exa...Figure 2.6 Magnitude of (solid line) together with dashed line to determin...Figure 2.7 Comparison of closed-loop step responses (Example 2.3). Key: line...Figure 2.8 One degree of freedom control system structure.Figure 2.9 Two degrees of freedom control system structure.Figure 2.10 Two degrees of freedom PI control system structure, where and Figure 2.11 Complementary sensitivity function with bandwidth illustration. ...Figure 2.12 Nyquist diagrams using Padula and Visioli PID controller (Exampl...Figure 2.13 Complementary sensitivity function using the Padula and Visioli ...Figure 2.14 Sensitivity function using the Padula and Visioli PID controller...Figure 2.15 Comparison of closed-loop responses using Padula and Visioli PID...Figure 2.16 Nyquist diagrams using the Padula and Visioli PID controller (Ex...Figure 2.17 Sensitivity functions using Padula and Visioli PID controller (E...Figure 2.18 Closed-loop responses to disturbance and measurement noise using...Figure 2.19 Closed-loop responses to disturbance and measurement noise using...Figure 2.20 Unit step response of the eighth reactor with lines to assist ob...Figure 2.21 Magnitude of modeling errors with the first order plus delay mod...Figure 2.22 Complementary sensitivity function and graphic presentation of r...Figure 2.23 Closed-loop step responses (Example 2.7). (a) Control. (b) Outpu...

3 Chapter 3Figure 3.1 Step response of the desired closed-loop transfer function. (a) Figure 3.2 Closed-loop response (Example 3.1). (a) Control signal. (b) Outpu...Figure 3.3 Closed-loop response of PI control system (Example 3.2). (a) Cont...Figure 3.4 Closed-loop response of PID control system (Example 3.4). (a) PID...Figure 3.5 Closed-loop response of PID control system (Example 3.6). (a) PID...Figure 3.6 Reference response of the PID control system (Example 3.7). Key: ...Figure 3.7 Input disturbance rejection (Example 3.7). All controller structu...Figure 3.8 Closed-loop response (Example 3.8). (a) Control signal. (b) Outpu...Figure 3.9 Closed-loop response of resonant control (Example 3.9). (a) Distu...Figure 3.10 Sinusoidal input disturbance rejection (Example 3.10).Figure 3.11 Block diagram of the feedback and feedforward control system.Figure 3.12 Three springs and double mass system.Figure 3.13 Closed-loop responses for three springs and double mass system w...Figure 3.14 Closed-loop responses for three springs and double mass system w...Figure 3.15 Closed-loop responses with disturbance feedforward control for t...Figure 3.16 Comparison between the closed-loop output responses when using d...

4 Chapter 4Figure 4.1 Closed-loop response (Example 4.1). (a) Input signal. (b) Output ...Figure 4.2 Closed-loop response (Example 4.2). (a) Input signal. (b) Output ...Figure 4.3 Error signal and control signal in the integrator windup case (Ex...Figure 4.4 PI controller (position form) with anti-windup mechanism ( repre...Figure 4.5 Closed-loop response (Example 4.3). (a) Input signal. (b) Output ...Figure 4.6 Closed-loop response (Example 4.4). (a) Input signal. (b) Output ...Figure 4.7 Closed-loop response (Example 4.4). (a) Input signal. (b) Output ...Figure 4.8 Closed-loop response (Example 4.5). (a) Input signal. (b) Output ...Figure 4.9 Closed-loop response (Example 4.5). (a) Input signal. (b) Output ...

5 Chapter 5Figure 5.1 Block diagram of the system for a disturbance observer-based PI c...Figure 5.2 Block diagram of the control system using a disturbance observer.Figure 5.3 Transfer function realization of the estimator based PI controlle...Figure 5.4 Comparison of closed-loop control performance using an estimator ...Figure 5.5 Comparison of closed-loop control performance using an estimator ...Figure 5.6 Comparison of closed-loop control performance between the PI cont...Figure 5.7 Transfer function realization of the disturbance observer-based P...Figure 5.8 Closed-loop control performance using disturbance observer-based ...Figure 5.9 Transfer function realization of a resonant controller with satur...Figure 5.10 Closed-loop control response using a disturbance observer-based ...Figure 5.11 Closed-loop control response using disturbance observer-based re...Figure 5.12 Closed-loop control response using a disturbance observer-based ...Figure 5.13 (Example 5.5). Key: line (1) , ; line (2) .Figure 5.14 Magnitude of the sensitivity function (Example 5.6). Solid line:...Figure 5.15 Closed-loop control response using disturbance observer-based re...Figure 5.16 Closed-loop control response using disturbance observer-based re...

6 Chapter 6Figure 6.1 Approximation of a nonlinear function at .Figure 6.2 Schematic of a double tank.Figure 6.3 Schematic of the ball and plate balancing system.Figure 6.4 Disturbance rejection. (a) -axis response. (b) -axis response. ...Figure 6.5 Making a square movement. (a) -axis response. (b) -axis respons...Figure 6.6 Making a circle movement. (a) -axis response. (b) -axis respons...Figure 6.7 Weighting parameters.

7 Chapter 7Figure 7.1 Block diagram for a system suitable for cascade control.Figure 7.2 Block diagram of a cascade control system.Figure 7.3 Cascade closed-loop response signals (Example 7.2, primary contro...Figure 7.4 Closed-loop cascade control system.Figure 7.5 Sensitivity functions for the cascade control system (Example 7.3...Figure 7.6 Cascade closed-loop response to square wave disturbance signal wi...Figure 7.7 One controller for disturbance rejection.Figure 7.8 Deadzone nonlinearity.Figure 7.9 Closed-loop control response by neglecting the actuator dynamics ...Figure 7.10 Simulink simulation program for the cascade control system with ...Figure 7.11 Closed-loop control response using cascade control (Example 7.5,...Figure 7.12 Closed-loop control response using cascade control (Example 7.5,...Figure 7.13 Illustration of a quantization of signal with quantization int...Figure 7.14 Closed-loop control response with quantization on the input sign...Figure 7.15 Simulink simulation program for cascade control with actuator qu...Figure 7.16 Cascade closed-loop control response with quantization on input ...Figure 7.17 Illustration of a backlash nonlinearity with and .Figure 7.18 The effect of backlash on closed-loop performance (Example 7.8, Figure 7.19 The effect of backlash on closed-loop performance (Example 7.8, Figure 7.20 Simulink simulation program for cascade control with a backlash ...Figure 7.21 The effect of backlash on cascaded closed-loop performance (Exam...Figure 7.22 Segment of data to illustrate the effect of backlash on cascaded...

8 Chapter 8Figure 8.1 Illustration of the design process and closed-loop responses (Exa...Figure 8.2 Closed-loop responses (Example 8.1) when using the phase margin. ...Figure 8.3 Illustration of the design process and closed-loop responses (Exa...Figure 8.4 Comparison of closed-loop responses of PI and PID control systems...Figure 8.5 Comparison of closed-loop responses of PID control systems with d...Figure 8.6 Comparison of closed-loop responses of PID control systems. (a) O...Figure 8.7 Frequency response. Key: line (1) ; line (2) ; line (3) Figure 8.8 Nyquist plot. Key: line (1) ; line (2) .Figure 8.9 Closed-loop control simulation for output stair case disturbance ...Figure 8.10 Calculated normalized proportional controller gain. (a) , . (b...Figure 8.11 Calculated gain and phase margins for PID controllers. (a) Gain ...Figure 8.12 Calculated gain and phase margins for PI controllers. (a) Gain m...Figure 8.13 Calculated gain and phase margins for PD controllers. (a) Gain m...Figure 8.14 Comparison of closed-loop performance for three types of control...Figure 8.15 Comparison of closed-loop PID control performance between the mo...

9 Chapter 9Figure 9.1 Block diagram of relay feedback control.Figure 9.2 Location of on a Nyquist curve.Figure 9.3 Simulink diagram for the relay feedback control.Figure 9.4 Relay feedback control signals with hysteresis (Example 9.1). (a)...Figure 9.5 Block diagram of integrated relay feedback control.Figure 9.6 Location of on a Nyquist curve when using an integrator with re...Figure 9.7 Relay feedback control signals with and without integrator (Examp...Figure 9.8 Frequency response estimation using FFT (Example 9.3). (a) Input ...Figure 9.9 Frequency response estimation using FFT (Example 9.4). (a) Input ...Figure 9.10 Block diagram of the frequency sampling filter model with reduce...Figure 9.11 Frequency response estimation using FSF (Example 9.5).Figure 9.12 Monte-Carlo simulation results with random seeds in the presen...Figure 9.13 Monte-Carlo simulation results with random seeds in the presen...Figure 9.14 Monte-Carlo simulation results for estimation of steady-state ga...Figure 9.15 Simulink diagram of auto-tuner for stable system.Figure 9.16 Nyquist plots using the PID controller parameters in Table 9.1. ...Figure 9.17 Closed-loop simulation results using the PID controller paramete...Figure 9.18 Closed-loop simulation results using the PID controller paramete...Figure 9.19 Block diagram of relay feedback control for an integrating syste...Figure 9.20 Input and output relay feedback control data (Example 9.6).Figure 9.21 Comparison between the estimated frequency point with the origin...Figure 9.22 Frequency response comparison (Example 9.6). (a) Nyquist diagram...Figure 9.23 Comparison of closed-loop performance for three types of control...Figure 9.24 Input and output relay feedback control data (Example 9.7).Figure 9.25 Comparison between the estimated frequency point with the origin...Figure 9.26 Comparison of closed-loop performance for three types of control...Figure 9.27 Frequency response comparison (Example 9.7). (a) Nyquist diagram...Figure 9.28 Relay feedback control signals from inner closed-loop system (Ex...Figure 9.29 Auto-tuning inner-loop control system (Example 9.8). (a) Nyquist...Figure 9.30 Relay feedback control signals from outer- closed-loop system (E...Figure 9.31 Auto-tuning outer-loop control system (Example 9.8). (a) Nyquist...

10 Chapter 10Figure 10.1 Inertial frame and body frame of the quadrotor.Figure 10.2 Representation of a hexacopter (Ligthart et al. (2017)).Figure 10.3 Attitude control system structure.Figure 10.4 Quadrotor test-bed.Figure 10.5 Experimental rig for a hexacopter.Figure 10.6 Relay feedback control signals from the inner-loop system: top f...Figure 10.7 Inner-loop step response in closed-loop control. Dashed line, re...Figure 10.8 Relay feedback control signals from outer-loop system: top figur...Figure 10.9 Comparative roll angle step response in closed-loop control.Figure 10.10 Roll angle step response of quadrotor using test rig.Figure 10.11 Inner loop relay test result.Figure 10.12 Attitude control system with approximated inner loop.Figure 10.13 Outdoor flight test.Figure 10.14 Flight data for roll axis.Figure 10.15 Flight data for pitch axis.Figure 10.16 Flight data for yaw axis.