Provides broad insights into problems of coding control algorithms on a DSP platform. - Includes a set of Simulink simulation files (source codes) which permits readers to envisage the effects of control solutions on the overall motion control system. -bridges the gap between control analysis and industrial practice.
Table of Contents
Cover
Digital Control of Electrical Drives
ISBN 9780387259857 e-ISBN 9780387485980
Contents
Preface
Readership
Prerequisites
Objectives
Field of application
Acknowledgment
1 Speed Control
1.1 Basic structure of the speed-controlled system
Problems
2 Basic Structure of the Speed Controller
2.1 Proportional control action
2.1.1 Open-loop and closed-loop transfer functions
2.1.2 Load rejection of the proportional speed controller
2.1.3 Proportional speed controller with variable reference
2.1.4 Proportional speed controller with frictional load
2.2 The speed controller with proportional and integral action
2.2.1 Transfer functions of the system with a PI controller
2.2.2 Load rejection with the PI speed controller
2.2.3 Step response with the PI speed controller
2.2.4 The PI speed controller with relocated proportional
action
2.2.5 Parameter setting and the closed-loop bandwidth
2.2.6 Variable reference tracking
2.3 Suppression of load disturbances and tracking errors
2.3.1 The proper controller structure for the given reference
profile
2.3.2 Internal Model Principle (IMP)
2.4 Feedforward compensation
Problems
3 Parameter Setting of Analog Speed Controllers
3.1 Delays in torque actuation
3.1.1 The DC drive power amplifiers
3.1.2 Current controllers
3.1.3 Torque actuation in voltage-controlled DC drives
3.2 The impact of secondary dynamics on speed-controlled DC drives
3.3 Double ratios and the absolute value optimum
3.4 Double ratios with proportional speed controllers
3.5 Tuning of the PI controller according to double ratios
3.6 Symmetrical optimum
Problems
4 Digital Speed Control
4.1 Discrete-time implementation of speed controllers
4.2 Analysis of the system with a PI discrete-time speed
controller
4.2.1 The system with an idealized torque actuator and
inertial load
4.2.2 The z-transform and the pulse transfer function
4.2.3 The transfer function of the mechanical subsystem
4.2.4 The transfer function of the speed-measuring subsystem
4.3 High-frequency disturbances and the sampling process
4.4 The closed-loop system pulse transfer function
4.5 Closed-loop poles and the effects of closed-loop zeros
4.6 Relocation of proportional gain
4.7 Parameter setting of discrete-time speed controllers
4.7.1 Strictly aperiodic response
4.7.2 Formulation of criterion function
4.7.3 Calculation of the optimized values for normalized
gains
4.8 Performance evaluation by means of computer simulation
4.9 Response to large disturbances and the wind-up phenomenon
4.10 Anti-Wind-Up mechanism
4.11 Experimental verification of the discrete-time speed
controller
Problems
6 The Position Controller with Integral Action
6.1 The operation in linear mode and the pulse transfer functions
6.2 Parameter setting of PID position controllers
6.3 The step response and bandwidth of the PD and PID controller
6.4 Computer simulation of the input step and load step response
6.5 Large step response with a linear PID position controller
6.6 The nonlinear PID position controller
6.6.1 The maximum speed in linear operating mode
6.6.2 Enhancing the PID controller with nonlinear action
6.6.3 Evaluation of the nonlinear PID controller
6.7 Experimental verification of the nonlinear PID controller
Problems
7 Trajectory Generation and Tracking
7.1 Tracking of ramp profiles with the PID position controller
7.1.1 The steady-state error in tracking the ramp profile
7.2 Computer simulation of the ramp-tracking PID controller
7.3 Generation of reference profiles
7.3.1 Coordinated motion in multiaxis systems
7.3.2 Trajectories with trapezoidal speed change
7.3.3 Abrupt torque changes and mechanical resonance problems
7.3.4 `S ` curves
7.4 Spline interpolation of coarse reference profiles
Problems
8 Torsional Oscillations and the Antiresonant Controller
8.1 Control object with mechanical resonance
8.2 Closed-loop response of the system with torsional resonance
8.3 The ratio between the motor and load inertia
8.4 Active resonance compensation methods
8.5 Passive resonance compensation methods
8.6 Series antiresonant compensator with a notch filter
8.6.1 The notch filter attenuation and width
8.6.2 Effects of the notch filter on the closed-loop poles
and zeros
8.6.3 Implementation aspects of the notch antiresonant
filters
8.7 Series antiresonant compensator with the FIR filter
8.7.1 IIR and FIR filters
8.7.2 FIR antiresonant compensator
8.7.3 Implementation aspects of FIR antiresonant compensators
8.8 Computer simulation of antiresonant compensators
8.9 Experimental evaluation
8.10 Sustained torsional oscillations
Problems
Appendices
A C-code for the PD position controller
B ASM-code for the PID position controller
C Time functions and their Laplace and z-transforms
D Properties of the Laplace transform
E Properties of the z-transform
F Relevant variables and their units
References
Index