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Lecture6 PDF

The document discusses feedback control systems and key concepts like: - Feedforward for command following - Feedback for disturbance rejection 1) Systems with two degrees of freedom that use feedback to deal with disturbances and feedforward to deal with command signals. • Relations between signals are characterized by four transfer functions for error feedback (Gang of Four) and six for 2DOF (Gang of Six) 2) The "Gangs of Four" and "Gangs of Six" transfer functions that characterize error feedback systems and two-degree-of-freedom systems, respectively. • Sensitivity functions S and T depend only on loop transfer function L and have useful interpretations

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34 views8 pages

Lecture6 PDF

The document discusses feedback control systems and key concepts like: - Feedforward for command following - Feedback for disturbance rejection 1) Systems with two degrees of freedom that use feedback to deal with disturbances and feedforward to deal with command signals. • Relations between signals are characterized by four transfer functions for error feedback (Gang of Four) and six for 2DOF (Gang of Six) 2) The "Gangs of Four" and "Gangs of Six" transfer functions that characterize error feedback systems and two-degree-of-freedom systems, respectively. • Sensitivity functions S and T depend only on loop transfer function L and have useful interpretations

Uploaded by

Edutam
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 8

Lecture 6 - The Basic Feedback Loop

1. Introduction
A nice collection of tools have been developed

K. J. strm

We have looked at a few examples

1. Introduction

We will now investigate a typical control problem

2. Controllers with two degrees of freedom

A basis for control system design

3. The Gangs of Four and Six

How to judge a control system

4. The sensitivity functions

New concepts and insight

5. Summary
Theme: Understanding the basic feedback loop. Systems with
two degrees of freedom. The gangs of four and six. Sensitivity
functions

Sensitivity functions
Deeper understanding of feedback

A basis for a serious look at the design problem


How to capture a complex reality in tractable mathematics

Key Issues

A Basic Control System


n

d
r
F

u
C

x
P

Find a controller that


y

A: Reduces effects of load disturbances


B: Does not inject to much measurement noise into the
system
C: Makes the closed loop insensitive to variations in the
process

D: Makes output follow command signals

Ingredients:
Controller: feedback C, feedforward F
Load disturbance d: Drives the system from desired state
Measurement noise n: Corrupts information about x

Convenient to use a controller with two degrees of freedom,


i.e. separate signal transmission from y to u and from r to u.
This gives a complete separation of the problem: Use feedback
to deal with A, B, and C. Use feedforward to deal with D!

Process variable x should follow reference r


c K. J. strm August, 2001
&

2. System with Two Degrees of Freedom


n

d
r

Designing System with Two Degrees of Freedom


Design the feedback C to achieve

Design procedure:
Small sensitivity to load disturbances d
Low injection of measurement noise n
High robustness to process variations

1
The controller has two degrees of freedom (2DOF) because
the transfer function from reference r to control u is different
from the transfer function from y to u.
We have already encountered this in PI control
Z t
u(t) = k(br(t) y(t)) +
(r( ) y( ))d

Then design the feedforward F to achieve desired response to command signals r


For many problems in process control the load disturbance response is much more important than the set point response.
The set point response is more important in motion control. Few textbooks and papers show more than set point responses.

Many Versions of 2DOF


r

3. Relations between signals


y

r
F

1
r

Mu
My

um
ym

d
e

u
C

x
P

y
P

P
PC
PCF
D
N+
R
1 + PC
1 + PC
1 + PC
P
1
PCF
Y=
D+
N+
R
1 + PC
1 + PC
1 + PC
PC
C
CF
D
N+
R
U =
1 + PC
1 + PC
1 + PC
X =

1
For linear systems all 2DOF configurations have the same
properties. For the systems above we have
C F = Mu + CM y
c K. J. strm August, 2001
&

Some Observations

A Possible Choice

A system based on error feedback is characterized by four


transfer functions (The Gang of Four)
The system with a controller having two degrees of
freedom is characterized by six transfer function (The
Gang of Six)
To fully understand a system it is necessary to look at all
transfer functions
It may be strongly misleading to only show properties of
a few systems for example the response of the output to
command signals. This is a common error in the literature.
The properties of the different transfer functions can be
illustrated by their transient or frequency responses.

Six transfer functions are required to show the properties of a


basic feedback loop. Four characterize the response to load
disturbances and measurement noise.
PC
1 + PC
C
1 + PC

Two more are required to describe the response to set point


changes.
PC F
CF
1 + PC
1 + PC

Amplitude Curves of Frequency Responses


PI control k = 0.775, Ti = 2.05 of P(s) = (s + 1)4 with
M (s) = (0.5s + 1)4
PC F /(1 + PC)
0

10

10

10

10

10

C F /(110+ PC)10

1.5

10

Step Responses
PI control k = 0.775, Ti = 2.05 of P(s) = (s + 1)4 with
M (s) = (0.5s + 1)4

P/(1 + PC)

PC/(1 + PC)

P
1 + PC
1
1 + PC

PC F /(1 + PC)

PC/(1 + PC)

1.5

P/(1 + PC)

1.5

0.5

0.5

0.5

10

C/(1 10+ PC) 10

10

10
1

10

1/(1 + PC)
10

10

1.5

10

20

30

C F /(1 + PC)

0
1.5

10

20

C/(1 + PC)

30

0
1.5

10

20

30

10

20

30

1/(1 + PC)

10

10

10
1

10

10

10

0.5

0.5

0.5

10

10

10

10

10

10

10

10

10

c K. J. strm August, 2001


&

20

30

10

20

30

An Alternative

A Warning!

Show the responses in the output and the control signal to


a step change in the reference signal for system with pure
error feedback and with feedforward. Keep the reference signal
constant and make a unit step in the process input. Show the
response of the output and the control signal.

Please remember to always look at all responses


when you are dealing with control systems. The step
response below looks fine but ...
Response of y to step in r
1

1.5

0.5

10

20

30

40

50

0.5

60

2
1.5
1
0.5

0
0.5

10

20

30

40

50

60

Four Responses
Response of y to step in r

Response of y to step in d
80

40
20

Response of u to step in r

1
s1
s1
Controller C(s) =
s
Response of y to reference r

Process P(s) =

PC
1
Y ( s)
=
=
R( s )
1 + PC
s+1

Response of u to step in d
0

Response of y to step in disturbance d

0.5
0

0.5

P
s
s
Y ( s)
=
= 2
=
D ( s)
1 + PC
s 1
(s + 1)(s 1)

0.5
1

The System

60
0.5

What is going on?


c K. J. strm August, 2001
&

Focus on Feedback

The Feedback Problem


n

d
r=0

x
P

d
y

r=0

Neglect following of reference signals (the feedforward


problem).

The signals have the following relations. Notice that there are
only four transfer functions - The Gang of Four.
P
PC
D
N
1 + PC
1 + PC
P
1
Y=
D+
N
1 + PC
1 + PC
PC
C
D
N
U =
1 + PC
1 + PC

Focus on on the feedback problem

X =

Load disturbances
Measurement noise
Model uncertainty

The Loop Transfer Function L(s) = P(s) C (s)


Tells a lot about the system.

4. The Sensitivity Functions


The transfer functions
Sensitivity function S =

10

1
1
=
1 + PC
1+ L

10

Complementary sensitivity function T =

10

2
1

10

10

PC
L
=
1 + PC
1+ L

are called sensitivity functions. They have interesting properties


and useful physical interpretations. We have
The functions S and T only depend on the loop transfer
function L

100

S+T =1

200

Typically S (0) small and S () = 1 and consequently


T (0) = 1 and T () small

300

400

10

10

10

c K. J. strm August, 2001


&

Quiz

Disturbance Reduction

u
C

r=0

d
r

Look at the block diagram

1
Output without control Y = Yol (s) = N (s) + P(s) D (s)

Output with feedback control


Find all relations where the signal transmissions are equal to
either the sensitivity function or the complementary sensitivity
function
The Audience is Thinking ...

Assessment of Disturbance Reduction

Ycl =


1
1
N + PL =
Yol = SYol = SYol
1 + PC
1 + PC

Disturbances with frequencies such that h S (i )h < 1 are


reduced by feedback, disturbances with frequencies such that
h S (i )h > 1 are amplified by feedback.

Assessment of Disturbance Reduction

We have

Ycl(s)
1
= S ( s) =
Ycl(s)
1 + P ( s) C ( s)
Feedback attenuates disturbances of frequencies such that
h S (i )h < 1. It amplifies disturbances of frequencies such that
h S (i )h > 1
1

10

10

10

10

10

10

10

Ycl
1
=
=S
Yol
1 + PC
Geometric interpretation:
Disturbances with frequencies inside the circle are
amplified by feedback. Disturbances with frequencies
outside are reduced.
Disturbances with frequencies less than s are reduced by feedback.

10

c K. J. strm August, 2001


&

Properties of the Sensitivity function

The Water Bed Effect

Can the sensitivity be small for all frequencies?


Can we get h S (i )h 1?
If the Nyquist curve of L = PC is in the first and third
quadrant! Passive systems!

log h S (i )h

No we have S () = 1!

Bodes integral, pk RHP poles of L(s)


Z

1
log h S( i )hd =
log
d
h1 + L( i )h
0
X

=
Re pk lim sL( s)
2 s

The "water-bed effect". Push the curve down at one


frequency and it pops up at another!

0.5

log h S (i )hd =

1.5

Re pk

2.5

lim sL(s)
2 s
The sensitivity can be decreased at one frequency at the cost
of increase at another frequency.
0

Robustness

Maximum Sensitivity

Effect of small process changes on T = PC/(1 + PC)


dP
dT
dP
CdP
1
dP
=

=
=S
T
P
1 + PC
1 + PC P
P

or

h Ph
1
<
h Ph
hT h

Ms = max h S (i )h

is a measure of robustness. The


number 1/ Ms is the smallest distance from the Nyquist curve to
the critical point -1.

How much can the process


be changes without making
the system unstable?
h C Ph < h1 + PCh

The number

1+ L

1
Ms

ms
s

C P

Reasonable values are between 1.2 and 2.

c K. J. strm August, 2001


&

Maximum Sensitivities

Summary of the Sensitivity Functions

Requirement on maximum sensitivities give constraints that tell


that the Nyquist curve should avoid certain circles
Ms = Mt = 2

Ms = Mt = 1.4

1
L
, T=
, Ms = max h S(i )h, Mt = max hT (i )h
1+ L
1+ L
The value 1/ Ms is the shortest distance from the Nyquist curve of
the loop transfer function L(i ) to the critical point 1.
S=

S=

Ycl (s)
V log T
=
V log P
Yol (s)

How much can the process be changed without making the system
unstable?
h Ph
1
<
h Ph
hT h
Bodes integral the water bed effect.
Z
X

log h S(i )hd =


Re pk lim sL(s)
2 s
0

5. Summary

The Gangs of Four and Six

Systems with two degrees of freedom allow a complete


separation of responses to reference signals and disturbances.
Design for disturbances and robustness first, then choose
feedforward F to give desired response to reference
signals
A system with error feedback is characterized by four
transfer functions (Gang of Four)
The basic feedback loop with two degrees of freedom is
characterized by six transfer functions (Gang of Six)
The effect of feedback on disturbances is given by

Response of y to load disturbance d is characterized by


P
1 + PC

Response of u to measurement noise n is characterized by


C
1 + PC

Robustness to process variations is characterized by


S=

1
PC
, T=
1 + PC
1 + PC

Responses of y and u to reference signal r is characterized by

Yclosedloop(s) = S (s) Yopenloop(s)


c K. J. strm August, 2001
&

PC F
,
1 + PC

CF
1 + PC
8

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