Advanced control engineering (S.R. Burns, 2001)
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Desired |
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Elevator |
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Angle |
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Control Signal |
Output Angular |
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Control |
Sensor |
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Column |
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Actual |
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Controller |
Angle |
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Input |
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Angular |
Measured Angle |
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Sensor |
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Hydraulic |
Electrohydraulic |
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Cylinder |
Servovalve |
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Fluid |
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Desired |
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Error |
Control |
Flow-rate |
Hydraulic |
Actual |
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3 |
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Angle |
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Signal |
Signal |
(m |
/s) |
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Force |
Angle |
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(deg) |
Input |
(V) + (V) |
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(V) |
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Servo- |
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Hydraulic |
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(N) |
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(deg) |
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Angular |
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Controller |
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Elevator |
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– |
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valve |
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Cylinder |
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Sensor |
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Output |
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(V) |
Angular |
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Sensor |
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Computer |
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Controller |
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Machine Table Movement |
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Shaft |
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Computer |
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Encoder |
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Program |
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DC-Servomotor |
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Lead-Screw |
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Digital |
Power |
Bearing |
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Tachogenerator |
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Controller |
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Amplifier |
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Digital Positional Feedback |
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Analogue Velocity Feedback |
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Digital |
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Control |
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Actual |
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Desired Position |
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Actual |
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Digital |
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Signal |
Torque |
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Velocity |
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Error |
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(V) |
(Nm) |
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(m/s) |
Position |
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+ (V) |
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(m) |
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+ |
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DC |
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Computer |
Digital |
Power |
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Machine |
Integrator |
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Program |
– |
Controller |
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– |
Amplifier |
Servo |
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Table |
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motor |
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Analogue |
Tacho- |
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Velocity Feedback |
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generator |
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Digital Positional |
Shaft |
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Feedback |
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Encoder |
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Desired Heading |
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Actual rudder-angle |
Gyro-compass |
Auto-pilot |
Steering-gear |
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Sensor |
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Error |
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Actual Heading |
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Demanded rudder-angle |
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Measured rudder-angle |
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Actual |
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Disturbance |
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Demanded |
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Moment |
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Course |
Rudder |
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Actual |
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Desired |
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(Nm) |
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Error |
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Rudder |
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Angle |
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Heading |
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Heading |
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(V) |
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Angle |
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(deg) |
Rudder |
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+ |
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+ |
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– |
(deg) |
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(deg) |
Potentio- |
Autopilot |
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+ |
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Steering |
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Charact- |
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Hull |
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meter |
(V)– |
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(Controller) (V)– |
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Gear |
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eristics |
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Rudder |
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Rudder |
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Angle |
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Moment |
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Sensor |
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(Nm) |
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Measured |
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Gyro- |
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Heading (V) |
Compass |
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START
Define System
Performance
Specification
Identify System
Components
•
Model Behaviour
of Plant and
System
Components
No
Is Component
Response Acceptable?
Yes
Define Control
Strategy
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• |
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Simulate |
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System |
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Response |
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Does Simulated |
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No |
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Response Meet |
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Yes |
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Performance Specification? |
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Implement
Physical System
•
Select
Alternative
Components
Modify
Control
Strategy
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Measure System |
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Modify Control |
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Response |
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Strategy |
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Does System |
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No |
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Yes |
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Response Meet |
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Performance Specification? |
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FINISH |
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$ |
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$ |
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$ |
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$ |
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$ |
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$ |
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Forward Speed u(t) (m/s)
a
Accelerator angle θ(t) (degrees)
$ |
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$ |
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$ |
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# $ |
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$ |
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$ |
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# $ |
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# |
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# $ |
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# |
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# |
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# $ |
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θi(t) |
θo(t) |
xi(t) |
xo(t) |
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K |
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K |
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T(t) |
P(t) |
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P(t) |
T(t) |
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(a) Translational Spring |
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(b) Rotational Spring |
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$ |
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$ |
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$ $ |
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$ $ |
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C |
C |
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P(t) |
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ω(t) |
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v(t) |
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T(t) |
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(a) Translational Damper |
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(b) Rotational Damper |
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