Computer-Aided Control Systems Design: Practical Applications Using MATLAB® and Simulink®

384 Pages·2013·17.42 MB·English

by  Cheng Siong Chin

COMPUTER-AIDED
CONTROL SYSTEMS
DESIGN

Practical Applications Using
MATLAB® and Simulink®

Cheng Siong Chin
COMPUTER-AIDED
CONTROL SYSTEMS
DESIGN

Practical Applications Using
MATLAB® and Simulink®
Boca Raton London New York
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Contents
Foreword ...................................................................................................................ix
Preface.......................................................................................................................xi
Acknowledgments ..................................................................................................xiii
Chapter 1 An Overview of Applied Control Engineering ....................................1
1.1 Historical Review ......................................................................1
1.2 Computer-Aided Control System Design ..................................2
1.3 Control System Fundamentals ...................................................4
1.3.1 Open-Loop Systems .....................................................6
1.3.2 Closed-Loop Systems ...................................................7
1.4 Examples of Control Systems ....................................................8
1.4.1 Ship Control System .....................................................8
1.4.2 Underwater Robotic Vehicle Control System ...............8
1.4.3 Unmanned Aerial Vehicle Control System ..................9
1.5 Control System Design ............................................................10
Chapter 2 Introduction to MATLAB and Simulink ...........................................13
2.1 What Is MATLAB and Simulink? ..........................................13
2.2 MATLAB Basic ......................................................................13
2.2.1 Vector .........................................................................13
2.2.2 Matrices ......................................................................15
2.2.3 Plot Graph...................................................................17
2.2.4 Polynomials ................................................................17
2.2.5 M-Files and Function .................................................19
2.3 Solving a Differential Equation ...............................................20
2.3.1 MATLAB Open-Loop Transfer Function Modeling ....22
2.3.2 Simulink Open-Loop Transfer Function Modeling .....25
2.3.3 Simulink Open-Loop System Modeling ....................29
2.4 Simulink Closed-Loop Control System Design ......................45
2.4.1 PID Tuning Using Simulink .......................................45
2.4.2 PID Tuning Using the SISO Tool ...............................47
Chapter 3 Analysis and Control of the ALSTOM Gasifier Problem ..................51
3.1 Gasifier System Description and Notation ..............................51
3.2 Inherent Properties Analysis ...................................................52
3.3 Control Structure Design .........................................................61
3.4 Gasifier System Analysis .........................................................64
3.5 Model Order Reduction (MOR) ..............................................72
v
vi Contents
3.6 Linear Quadratic Regulator (LQR) .........................................77
3.6.1 LQR Theory ...............................................................77
3.6.2 LQR Design Steps ......................................................81
3.6.3 Performance Tests on LQR Design ............................81
3.7 Linear Quadratic Gaussian (LQG) ..........................................83
3.7.1 LQG Theory ...............................................................83
3.7.2 Loop Transfer Recovery (LTR) ..................................84
3.7.3 LQG/LTR Design Steps .............................................86
3.7.4 Performance Tests on LQG/LTR ...............................87
3.8 H-Infinity Optimization ..........................................................87
3.8.1 Generalized Plant .......................................................89
3.8.2 H-Infinity Design Assumptions..................................90
3.8.3 H Optimization Routine ............................................91
∞
3.8.4 Mixed Sensitivity Problem Formulation ....................91
3.8.5 Selection of Weighting Function ................................93
3.8.6 H-Infinity Design Steps ..............................................95
3.8.7 Performance Tests on H-Infinity Design ..................105
3.9 H Optimization.....................................................................105
2
3.9.1 H Design Steps ........................................................107
2
3.9.2 Performance Tests on H Design ..............................116
2
3.10 Comparison of Controllers ....................................................116
3.10.1 Sensitivity (S) ...........................................................116
3.10.2 Robust Stability (RS) ................................................117
3.10.3 MIMO System Asymptotic Stability (MIMO AS).....117
3.10.4 Nyquist Type Criterion (NTC) .................................118
3.10.5 Internal Stability (IS) ...............................................118
3.10.6 Instantaneous Error (ISE) ........................................119
3.10.7 Final Value Theorem (FVT) ....................................119
3.10.8 Controller Order (CO) ..............................................120
3.10.9 Condition Number (CN) ...........................................120
3.11 Comparison of All Controllers ..............................................120
Chapter 4 Modeling of a Remotely Operated Vehicle ......................................125
4.1 Background of the URV ........................................................125
4.2 Basic Design of a ROV and Tasks Undertaken .....................126
4.3 Need for ROV Control ...........................................................129
4.4 Dynamic Equation Using the Newtonian Method ................130
4.5 Kinematics Equations and Earth-Fixed Frame Equation......135
4.6 RRC ROV Model ...................................................................138
4.6.1 Rigid-Body Mass and Coriolis and Centripetal
Matrix .......................................................................139
4.6.2 Hydrodynamic Added Mass Forces .........................141
4.6.3 Hydrodynamic Damping Forces ..............................154
4.6.4 Buoyancy and Gravitational Forces .........................178
4.6.5 Thruster’s Configuration Model ...............................182
Contents vii
4.7 Perturbed RRC ROV Model ..................................................186
4.7.1 Perturbation Bound on M and C Matrix ..................188
4.7.2 Perturbation Bound on D Matrix .............................190
4.8 Verification of ROV Model ...................................................190
Chapter 5 Control of a Remotely Operated Vehicle .........................................201
5.1 Nonlinear ROV Subsystem Model ........................................201
5.1.1 Station-Keeping Model ............................................202
5.1.2 Horizontal and Vertical Plane Subsystem Models .....205
5.2 Linear ROV Subsystem Model ..............................................211
5.3 Nonlinear ROV Control Systems Design ..............................215
5.3.1 Multivariable PID Control Design ...........................215
5.3.2 Sliding-Mode Control ...............................................229
5.3.3 Velocity State-Feedback Linearization ....................234
5.3.4 Fuzzy Logic Control.................................................239
5.3.5 Cascaded System Control on the Reduced ROV
Model ........................................................................250
5.4 Linear ROV Control Systems Design ....................................255
5.4.1 Inherent Properties of Linear ROV System .............256
5.4.2 LQG/LTR Controller Design ...................................264
5.4.3 H-Infinity Controller Design ....................................267
References .............................................................................................................277
Appendix A1: State-Space Matrices for ALSTOM Gasifier
System (Linear) .......................................................................281
Appendix A2: LQR Simulation Model and Results .........................................297
Appendix A3: LQG Simulation Model ..............................................................309
Appendix A4: LQG/LTR Simulation Model and Results ................................321
Appendix A5: H Simulation Model and Results ..............................................333
2
Appendix A6: H Simulation Model and Results .............................................345
∞
Index ......................................................................................................................357

Foreword
Simulation, as a discipline, provides infrastructure for solving challenging problems
for scores of application areas in cases where experimentation and experience are
needed. Both features can be offered under all conceivable realistic as well as extreme
conditions. For the first aspect, simulation is goal-directed experimentation with
models of dynamic systems. With its ability to provide experience, simulation plays a
vital role in training by providing possibilities to develop/enhance competence in one
of the three types of skills, namely motor skills, decision making and communication
skills, and operational skills. The last one is also very important in training operators
of control systems.
Computer simulation and modeling are important aspects of modern applied
control engineering as they are vital in all areas of simulation-based science and
engineering. Technical journals and conference proceedings abound with e xamples
of design of several types of engineered systems. Software for the e ngineering
community has helped to shorten design times while accurately predicting the
behavior of systems.
This book collects computerized modeling and simulation knowledge into a com-
pilation geared to many users. The two important applications are elaborated in sup-
port of computer simulations on practical and very important industrial systems such
as the ALSTOM gasifier system in power stations and underwater robotic vehicle
(URV) in marine industry. The steps and codes required in basic control systems
design and analysis are supported by widely used specialized software such as
MATLAB™ and Simulink™ throughout the chapters. A related area is in the analy-
sis of experimental data. In some engineered systems, the model can be developed
and verified through computational-fluid dynamic software such as ANSYS-CFX™.
This can be seen in the chapter on the modeling of remotely-operated vehicles
(ROVs). It provides an interesting documentation on the steps involved in modeling
and verification of the ROV model prior to control systems design and implementa-
tion. Hence, the chapters presented here provide a context for supporting all of these
activities and help researchers as well as students find the needed relations without
delving into many different papers, books, and handbooks.
Finding innovative solutions to challenging problems is very important. However,
providing infrastructure to offer innovative solutions to some current as well as
imminent and long term challenging problems is even more important.
This book, by providing examples in important applications for simulation-
based experimentation and simulation-based experience in applied control engi-
neering, is a valuable addition to the literature. It reflects where our knowledge
is firm enough to provide mathematical description of systems as well as design,
simulation, analysis, and implementation of control systems. Areas where the
knowledge is yet shallow are targeted for future studies. This book provides a
fertile delineation of areas needing attention. It is written for those who may
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