Scribd
Upload
22 views20 pages

Modern Control System

Uploaded by

Nurul Islam
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
22 views20 pages

Modern Control System

Uploaded by

Nurul Islam
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 20

1

Modern Control System


Modern design of Aircraft Control System

By
S M Nurul Islam Faruk, 17261001, MSc in EEE
For
Abu Hamed M. Abdur Rahim, PhD
Professor
BRAC University
2

Physical setup and system equations


• Aircraft pitch is governed
by the longitudinal
dynamics. In this example
we will design an
autopilot that controls the
pitch of an aircraft.
• The basic coordinate axes
and forces acting on an
aircraft are shown in the
figure.
3

Physical setup and system equations


• We will assume that the aircraft is
in steady-cruise at constant altitude
and velocity; thus, the thrust, drag,
weight and lift forces balance each
other in the x- and y-directions. We
will also assume that a change in
pitch angle will not change the
speed of the aircraft under any
circumstance (unrealistic but
simplifies the problem a bit).

• Under these assumptions, the


longitudinal equations of motion
for the aircraft can be written as
follows
4

Transfer function and state-space Models


• These values are taken from the data from one of Boeing's commercial
aircraft

1.Transfer function
The Laplace transform of the equations are shown

After few steps of algebra


5

Transfer function and state-space Models


• 2. State space
6

Transfer function and state-space Models


• MATLAB representation

Continuous-time transfer
function

Continuous-time state-
space model
7

Controllability
• For the system to be completely state controllable ,the
controllability matrix

Since our controllability matrix is 3x3,the rank of the matrix


must be 3. The MATLAB command rank can give you the rank
of this matrix

• Controllability =3
• Therefore, our system is completely state controllable since the
controllability matrix has rank 3.
8

Control design via pole placement


• The schematic of a full-state feedback
control system is shown below (with D
= O}.
• Based on the above, matrix A - BK
determines the closed-loop dynamics of
our system. Specfically, the roots of the
determinant of the matrix
• [ sl - ( A - BK } ] are the closed-loop
poles of the system. Since the
• determinant of [ sl - ( A - BK } ] is a
third-order polynomial, there are
• three poles we can place and since our
system is completely state
• controllable, we can place the poles
anywhere we like
9

Linear quadratic regulation


• We will use a technique called the
Linear Quadratic Regulator (LQR}
method to generate the "best" gain
matrix K, without explicitly
choosing to place the closed-loop
poles in particular locations.
• This type of control technique
optimally balances the system error
and the control effort based on a cost
that the designer specifies that
defines the relative importance of
minimizing errors and minimizing
control effort.
• In the case of the regulator problem,
it is assumed that the reference is
zero
10

Linear quadratic regulation


• Examination of the above
demonstrates that the response
is too slow.
• We can tune the performance of
our system to be faster by
weighting the importance of the
error more heavily than the
importance of the control effort.
• More specifically, this can be
done by increasing the
weighting factor p. After some
trial and error,we settle on a
value of p = 50
11

Linear quadratic regulation


• Modify the code of your
m-file as follows and
then run at the command
line to produce the
following step response.
12

Linear quadratic regulation

Examination of demonstrates that the rise time, overshoot, and settling time are
satisfactory. However, there is a large steady-state error. One way to correct this
is by introducing a pre compensator (N bar) to scale the overall output.
13

Simulink Modeling
• Linear state-space form

• Building the state-space model

Build a Simulink model of the above equations. One option


is to build a model of the plant with
state-feedback that emulates
the figure shown
14

Simulink to model the open-loop plant.


Specfically, follow the steps given below
• *Open Simulink and open a new model window.
• *Insert a Step block from the Simulink/Sources library.
• *To provide a appropriate step input at t=O, double-click the Step block and set the
Step time to "O". Also set the Final value to "0.2" to represent the 0.2-radian
reference we are assuming.
• *Insert a Demux block from the Simulink/Signal Routing library. Double-click on the
block and enter "3" for the Number of outputs; one output for each of the three state
variables.
• *Insert a Scope from the Simulink/Sinks library and connect the third output of the
Demux block to the scope. We will only plot the third state variable which
corresponds to the system's output which is the aircraft's pitch theta.
• *Add Terminator blocks from the Simulink/Sinks library to the two signals of the
Demux block that we are not plotting.
• *Insert a State-Space block from the Simulink/Continuous library and connect the
input to the Step block and the output to the Demux block.
• *Double-click on the State-Space block and enter the system parameters as shown in
the figure
15

Simulink to model the open-loop plant.


Specfically, follow the steps given below
• In the figure the C matrix is entered
as a 3x3 identity matrix using the
eye command rather than [0 0 1] as
given in the original state-space
equations.
• The reason for this is because in
state-feedback control it is assumed
that all of the state variables are
measured, not just the output.
• If this is not the case, then an
observer needs to be designed to
estimate any state variables that are
not measured. Refer to the State-
Space Methods for Controller
Design.
16

Simulink to model the open-loop plant. Specfically,


follow the steps given below
17

Generating the open-loop and closed-loop response

• Next generate the open-


loop step response by
running the simulation
18

Generating the open-loop and closed-loop response


• This response is unstable and
identical to that obtained within
MATLAB in the Aircraft Pitch
System Analysis page.
• In order to view a stable response,
we will now quickly add the state­
feedback control gain K designed in
the Aircraft Pitch: State-Space
Methods for Controller Design
page.
• Recall that this gain was designed
using the Linear Quadratic
Regulator method and resulted in a
calculation of K = [-0.6435
169.6950 7.0711].
19

Adding the appropriate labels will then leave you with the
Simulink model shown below
20

When the simulation is finished, double-click on the Scope and press


the auto scale button to recreate the following figure.

This response is identical to that obtained within MATLAB in the Aircraft Pitch State-
Space Methods for Controller Design page, where the state-feedback controller was
designed.

You might also like