Observers in Control Systems (eBook)

A Practical Guide

George Ellis (Autor)

eBook Download: PDF | EPUB

2002 | 1. Auflage
259 Seiten
Elsevier Science (Verlag)
978-0-08-051301-0 (ISBN)

Infos

Observers are digital algorithms that combine sensor outputs with knowledge of the system to provide results superior to traditional structures, which rely wholly on sensors. Observers have been used in selected industries for years, but most books explain them with complex mathematics. This book uses intuitive discussion, software experiments, and supporting analysis to explain the advantages and disadvantages of observers. If you are working in controls and want to improve your control systems, observers could be the technology you need and this book will give you a clear, thorough explanation of how they work and how to use them.

Control systems and devices have become the most essential part of nearly all mechanical systems, machines, devices and manufacturing systems throughout the world. Increasingly the efficiency of production, the reliability of output and increased energy savings are a direct result of the quality and deployment of the control system. A modern and essential tool within the engineer's kit is the Observer which helps improve the performance and reduce the cost of these systems.

George Ellis is the author of the highly successful Control System Design Guide (2nd Edition). Unlike most controls books, which are written by control theorists and academics, Ellis is a leading engineer, designer, author and lecturer working in industry directly with the users of industrial motion control systems. Observers in Control Systems is written for all professional engineers and is designed to be utilized without an in-depth background in control theory. This is a real-world book which will demonstrate how observers work and how they can improve your control system. It also shows how observers operate when conditions are not ideal and teaches the reader how to quickly tune an observer in a working system.

Software Available on line: A free updated and enhanced version of the author's popular Visual ModelQ allows the reader to practice the concepts with Visual ModelQ models on a PC. Based on a virtual laboratory, all key topics are demonstrated with more than twenty control system models. The models are written in Visual ModelQ ,and are available on the Internet to every reader with a PC.

* Teaches observers and Kalman filters from an intuitive perspective

* Explains how to reduce control system susceptibility to noise

* Shows how to design an adaptive controller based on estimating parameter variation using observers
Shows how to improve a control system's ability to reject disturbances

* Key topics are demonstrated with PC-based models of control systems. The models are written in both MatLab? and ModelQ, models are available free of charge

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Observers are digital algorithms that combine sensor outputs with knowledge of the system to provide results superior to traditional structures, which rely wholly on sensors. Observers have been used in selected industries for years, but most books explain them with complex mathematics. Observers in Control Systems uses intuitive discussion, software experiments, and supporting analysis to explain the advantages and disadvantages of observers. If you are working in controls and want to improve your control systems, observers could be the technology you need and this book will give you a clear, thorough explanation of how they work and how to use them. Control systems and devices have become the most essential part of nearly all mechanical systems, machines, devices and manufacturing systems throughout the world. Increasingly the efficiency of production, the reliability of output and increased energy savings are a direct result of the quality and deployment of the control system. A modern and essential tool within the engineer's kit is the Observer which helps improve the performance and reduce the cost of these systems. George Ellis is the author of the highly successful Control System Design Guide (Second Edition). Unlike most controls books, which are written by control theorists and academics, Ellis is a leading engineer, designer, author and lecturer working in industry directly with the users of industrial motion control systems. Observers in Control Systems is written for all professional engineers and is designed to be utilized without an in-depth background in control theory. This is a "e;real-world"e; book which will demonstrate how observers work and how they can improve your control system. It also shows how observers operate when conditions are not ideal and teaches the reader how to quickly tune an observer in a working system. Software Available online: A free updated and enhanced version of the author's popular Visual ModelQ allows the reader to practice the concepts with Visual ModelQ models on a PC. Based on a virtual laboratory, all key topics are demonstrated with more than twenty control system models. The models are written in Visual ModelQ ,and are available on the Internet to every reader with a PC. Teaches observers and Kalman filters from an intuitive perspective Explains how to reduce control system susceptibility to noise Shows how to design an adaptive controller based on estimating parameter variation using observers Shows how to improve a control system's ability to reject disturbances Key topics are demonstrated with PC-based models of control systems. The models are written in both MatLab(R) and ModelQ; models are available free of charge

Inhalt

Cover 1
Contents 8
Acknowledgements 12
Safety 14
Chapter 1. Control Systems and the Role of Observers 16
1.1 Overview 16
1.2 Preview of Observers 17
1.3 Summary of the Book 19
Chapter 2. Control-System Background 20
2.1 Control-System Structures 20
2.2 Goals of Control Systems 28
2.3 Visual ModelQ Simulation Environment 32
2.4 Software Experiments: Introduction to Visual ModelQ 33
2.5 Exercises 54
Chapter 3. Review of the Frequency Domain 56
3.1 Overview of the s-Domain 56
3.2 Overview of the z-Domain 69
3.3 The Open-Loop Method 74
3.4 A Zone-Based Tuning Procedure 77
3.5 Exercises 81
Chapter 4. The Luenberger Observer: Correcting Sensor Problems 82
4.1 What Is a Luenberger Observer? 82
4.2 Experiments 4A–4C: Enhancing Stability with an Observer 87
4.3 Predictor–Corrector Form of the Luenberger Observer 92
4.4 Filer Form of the Luenberger Observer 93
4.5 Designing a Luenberger Observer 97
4.6 Introduction to Tuning an Observer Compensator 105
4.7 Exercises 110
Chapter 5. The Luenberger Observer and Model Inaccuracy 112
5.1 Model Inaccuracy 112
5.2 Effects of Model Inaccuracy 115
5.3 Experimental Evaluation 117
5.4 Exercises 129
Chapter 6. The Luenberger Observer and Disturbances 130
6.1 Disturbances 130
6.2 Disturbance Response 138
6.3 Disturbance Decoupling 144
6.4 Exercises 153
Chapter 7. Noise in the Luenberger Observer 156
7.1 Noise in Control Systems 156
7.2 Sensor Noise and the Luenberger Observer 160
7.3 Noise Sensitivity when Using Disturbance Decoupling 171
7.4 Reducing Noise Susceptibility in Observer-Based Systems 176
7.5 Exercises 185
Chapter 8. Using the Luenberger Observer in Motion Control 188
8.1 The Luenberger Observers in Motion Systems 188
8.2 Observing Velocity to Reduce Phase Lag 200
8.3 Using Observers to Improve Disturbance Response 217
8.4 Exercises 227
References 228
Appendix A. Observer-Based Resolver Conversion in Industrial Servo Systems 232
Introduction 233
Resolvers and Traditional RDC 233
Converting the Signal 234
Observers 236
Applying the Observer to RDC 237
Advantages of Observer-Based Conversion 239
Conclusion 241
References 241
Appendix B. Cures for Mechanical Resonance in Industrial Servo Systems 242
Introduction 242
Two-Part Transfer Function 243
Low-Frequency Resonance 244
Velocity Control Law 245
Methods of Correction Applied to Low-Frequency Resonance 246
Conclusion 250
Acknowledgments 250
References 250
Appendix C. European Symbols for Block Diagrams 252
Part I: Linear Functions 252
Part II: Nonlinear Functions 253
Appendix D. Development of the Bilinear Transformation 256
Bilinear Transformation 256
Prewarping 257
Factoring Polynomials 258
Phase Advancing 258
Appendix E. Solutions of Exercises 260
Chapter 2 260
Chapter 3 260
Chapter 4 261
Chapter 5 261
Chapter 6 262
Chapter 7 263
Chapter 8 264
Index 266

Produkt-Details

• Erscheint lt. Verlag: 16.10.2002
• Sprache: englisch
• Themenwelt: Technik ► Elektrotechnik / Energietechnik
• Themenwelt: Technik ► Maschinenbau
• ISBN-10: 0-08-051301-8 / 0080513018
• ISBN-13: 978-0-08-051301-0 / 9780080513010