Control of Mechatronic Systems

217 Pages·2017·9.444 MB·English

by  Demirel, Burak, Emirler, Mümin Tolga, Güvenç, Bilic Aksun, Güvenç, Levent

IETCONTROL,ROBOTICSANDSENSORSSERIES104
Control of Mechatronic
Systems
Othervolumesinthisseries:
Volume8 AHistoryofControlEngineering,1800–1930S.Bennett
Volume18 AppliedControlTheory,2ndEditionJ.R.Leigh
Volume20 DesignofModernControlSystemsD.J.Bell,P.A.CookandN.Munro(Editors)
Volume28 RobotsandAutomatedManufactureJ.Billingsley(Editor)
Volume33 TemperatureMeasurementandControlJ.R.Leigh
Volume34 SingularPerturbationMethodologyinControlSystemsD.S.Naidu
Volume35 ImplementationofSelf-tuningControllersK.Warwick(Editor)
Volume37 IndustrialDigitalControlSystems,2ndEditionK.WarwickandD.Rees(Editors)
Volume39 ContinuousTimeControllerDesignR.Balasubramanian
Volume40 DeterministicControlofUncertainSystemsA.S.I.Zinober(Editor)
Volume41 ComputerControlofReal-timeProcessesS.BennettandG.S.Virk(Editors)
Volume42 DigitalSignalProcessing:Principles,devicesandapplicationsN.B.JonesandJ.D.McK.Watson
(Editors)
Volume44 Knowledge-basedSystemsforIndustrialControlJ.McGhee,M.J.GrimbleandA.Mowforth(Editors)
Volume47 AHistoryofControlEngineering,1930–1956S.Bennett
Volume49 PolynomialMethodsinOptimalControlandFilteringK.J.Hunt(Editor)
Volume50 ProgrammingIndustrialControlSystemsUsingIEC1131-3R.W.Lewis
Volume51 AdvancedRoboticsandIntelligentMachinesJ.O.GrayandD.G.Caldwell(Editors)
Volume52 AdaptivePredictionandPredictiveControlP.P.Kanjilal
Volume53 NeuralNetworkApplicationsinControlG.W.Irwin,K.WarwickandK.J.Hunt(Editors)
Volume54 ControlEngineeringSolutions:ApracticalapproachP.Albertos,R.StrietzelandN.Mort(Editors)
Volume55 GeneticAlgorithmsinEngineeringSystemsA.M.S.ZalzalaandP.J.Fleming(Editors)
Volume56 SymbolicMethodsinControlSystemAnalysisandDesignN.Munro(Editor)
Volume57 FlightControlSystemsR.W.Pratt(Editor)
Volume58 Power-plantControlandInstrumentation:ThecontrolofboilersandHRSGsystemsD.Lindsley
Volume59 ModellingControlSystemsUsingIEC61499R.Lewis
Volume60 PeopleinControl:HumanfactorsincontrolroomdesignJ.NoyesandM.Bransby(Editors)
Volume61 NonlinearPredictiveControl:TheoryandpracticeB.KouvaritakisandM.Cannon(Editors)
Volume62 ActiveSoundandVibrationControlM.O.TokhiandS.M.Veres
Volume63 SteppingMotors,4thEditionP.P.Acarnley
Volume64 ControlTheory,2ndEditionJ.R.Leigh
Volume65 ModellingandParameterEstimationofDynamicSystemsJ.R.Raol,G.GirijaandJ.Singh
Volume66 VariableStructureSystems: FromprinciplestoimplementationA.Sabanovic, L.Fridmanand
S.Spurgeon(Editors)
Volume67 MotionVision:DesignofcompactmotionsensingsolutionforautonomoussystemsJ.Kolodko
andL.Vlacic
Volume68 FlexibleRobotManipulators: Modelling, simulationandcontrolM.O.TokhiandA.K.M.Azad
(Editors)
Volume69 AdvancesinUnmannedMarineVehiclesG.RobertsandR.Sutton(Editors)
Volume70 IntelligentControlSystemsUsingComputationalIntelligenceTechniquesA.Ruano(Editor)
Volume71 AdvancesinCognitiveSystemsS.NeftiandJ.Gray(Editors)
Volume72 ControlTheory:Aguidedtour,3rdEditionJ.R.Leigh
Volume73 AdaptiveSamplingwithMobileWSNK.Sreenath,M.F.Mysorewala,D.O.PopaandF.L.Lewis
Volume74 EigenstructureControlAlgorithms:Applicationstoaircraft/rotorcrafthandlingqualitiesdesign
S.Srinathkumar
Volume75 AdvancedControlforConstrainedProcessesandSystemsF.Garelli,R.J.MantzandH.DeBattista
Volume76 DevelopmentsinControlTheorytowardsGlocalControlL.Qiu,J.Chen,T.IwasakiandH.Fujioka
(Editors)
Volume77 FurtherAdvancesinUnmannedMarineVehiclesG.N.RobertsandR.Sutton(Editors)
Volume78 Frequency-DomainControlDesignforHigh-PerformanceSystemsJ.O’Brien
Volume80 Control-orientedModellingandIdentification:TheoryandpracticeM.Lovera(Editor)
Volume81 Optimal Adaptive Control and Differential Games by Reinforcement Learning Principles
D.Vrabie,K.VamvoudakisandF.Lewis
Volume83 RobustandAdaptiveModelPredictiveControlofNonlinearSystemsM.Guay,V.Adetolaand
D.DeHaan
Volume84 NonlinearandAdaptiveControlSystemsZ.Ding
Volume88 DistributedControlandFilteringforIndustrialSystemsM.Mahmoud
Volume89 Control-basedOperatingSystemDesignA.Levaetal.
Volume90 ApplicationofDimensionalAnalysisinSystemsModellingandControlDesignP.Balaguer
Volume91 AnIntroductiontoFractionalControlD.ValérioandJ.Costa
Volume92 HandbookofVehicleSuspensionControlSystemsH.Liu,H.GaoandP.Li
Volume93 DesignandDevelopmentofMulti-LaneSmartElectromechanicalActuatorsF.Y.Annaz
Volume94 AnalysisandDesignofResetControlSystemsY.Guo,L.XieandY.Wang
Volume95 ModellingControlSystemsUsingIEC61499,2ndEditionR.LewisandA.Zoitl
Volume96 Cyber-PhysicalSystemDesignwithSensorNetworkingTechnologiesS.ZeadallyandN.Jabeur
(Editors)
Volume99 PracticalRoboticsandMechatronics:Marine,SpaceandMedicalApplicationsI.Yamamoto
Volume100OrganicSensors:MaterialsandApplicationsE.Garcia-BreijoandP.Cosseddu(Editors)
Volume102RecentTrendsinSlidingModeControlL.FridmanJ.-P.BarbotandF.Plestan(Editors)
Volume105MechatronicHands:ProstheticandRoboticDesignP.H.Chappell
Volume107SolvedProblemsinDynamicalSystemsandControlD.Valério, J.T.Machado, A.M.Lopesand
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Control of Mechatronic
Systems
Levent Gu¨venc¸, Bilin Aksun Gu¨venc¸,
Burak Demirel and Mu¨min Tolga Emirler
The Institution of Engineering and Technology
PublishedbyTheInstitutionofEngineeringandTechnology,London,UnitedKingdom
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LeventGüvençandBilinAksun-Güvençdedicatethisbooktotheirson
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BurakDemireldedicatesthisbooktohiswifeEstherMeijer
MüminTolgaEmirlerdedicatesthisbooktohisparents
ZehraEmirlerandRas¸itEmirler,andtohisbrotherMuammerMertEmirler

Contents
Preface xi
Abouttheauthors xiii
Controlofmechatronicsystemssoftware xv
1 Introduction 1
1.1 Introductionandbackground 1
1.2 Overallcontrolarchitecture 3
1.3 Overviewofcontrolmethods 4
1.4 Software 5
References 6
2 Parameterspacebasedrobustcontrolmethods 9
2.1 Introduction 9
2.2 Hurwitzstability 10
2.3 D-stability 19
2.4 Frequencydomaincontrolbasics 22
2.4.1 Mappingphasemarginboundstoparameterspace 23
2.4.2 Mappinggainmarginboundstoparameterspace 26
2.4.3 Mappingsensitivityboundstoparameterspace 27
2.5 Casestudy:automatedpathfollowing 32
2.6 Casestudy:QuanserQUBE™Servosystem 35
2.7 Singularfrequencies 42
References 44
3 Classicalcontrol 47
3.1 Introductiontoconventionalcontrol 47
3.2 Phaseleadcompensation 48
3.2.1 Characteristicsofphaseleadcompensators 49
3.2.2 Analyticalphaseleadcompensatordesigninthefrequency
domain 50
3.2.3 PDcontrolasaspecialcaseofphaseleadcompensation 56
3.3 Phaselagcompensation 60
3.3.1 Characteristicsofphaselagcompensators 60
3.3.2 Analyticalphaselagcompensatordesigninthefrequency
domain 62
3.3.3 PIcontrolasaspecialcaseofphaselagcontrol 65
viii Controlofmechatronicsystems
3.4 Phaselag-leadcompensation 72
3.4.1 PIDcontrolasaspecialcaseofphaselag-lead
compensation 74
3.5 Optimisation-based conventional controller design in MATLAB
andSimulink 80
3.6 Parameterspacebasedrobustconventionalcontrollerdesign 84
3.6.1 Comparison of analytical approach and parameter space
phasemarginboundcomputations 84
3.6.2 Casestudyofparameterspacebasedconventional
controllerdesign 85
3.7 Casestudy:QuanserQUBE™Servosystem 88
3.8 Chaptersummaryandconcludingremarks 89
References 90
4 Inputshapingcontrol 91
4.1 Introductiontoinputshapingcontrol 91
4.2 Discrete-timeNMPzeros 92
4.3 Differentfeedforwardcontrollerdesigns 94
4.4 Zerophasecompensation 95
4.5 Zerophasegaincompensation 98
4.6 Characterisationofcomplexnon-minimumphasezeros 99
4.7 Zerophaseextendedgaincompensation 101
4.8 Zerophaseoptimalgaincompensation 103
4.9 Truncatedseriesapproximationcompensation 108
4.10 Casestudy:electrohydraulictestingsystem 108
4.11 Robustnessanalysis 109
4.12 Chaptersummaryandconcludingremarks 110
References 110
5 Disturbanceobservercontrol 113
5.1 Introductiontodisturbanceobservercontrol 113
5.2 Continuous-timedisturbanceobserver 113
5.3 Casestudy:QuanserQUBE™Servosystem 118
5.4 Mapping robust performance frequency domain specifications
intodisturbanceobserverparameterspace 122
5.5 Case study: SISO disturbance observer control for yaw stability
controlofaroadvehicle 125
5.6 Discrete-timedisturbanceobserver 128
5.7 MIMOdecouplingextensionofdisturbanceobserver 130
5.8 Casestudy:MIMOdecouplingdisturbanceobservercontrolfora
four-wheelsteeringvehicle 134
5.9 Casestudy:MIMOdisturbanceobserverfordecoupling
thetwoaxesofmotioninapiezotubeactuatorusedin
anatomicforcemicroscope 139
5.10 Communicationdisturbanceobserver 141
Contents ix
5.11 Case study: communication disturbance observer application to
vehicleyawstabilitycontroloverCANbus 145
5.12 Chaptersummaryandconcludingremarks 148
References 148
6 Repetitivecontrol 151
6.1 Introductiontorepetitivecontrol 151
6.2 Stabilityanalysisofrepetitivecontrolsystem 153
6.2.1 Regenerationspectrumanalysis 155
6.2.2 Regenerationspectrumanalysisappliedtorepetitive
control 156
6.3 Repetitivecontrollerbasics 158
6.3.1 Internalmodelprinciple 158
6.3.2 Periodicsignalgenerator 160
6.3.3 Timeadvance 161
6.3.4 Low-passfilterq(s)anddynamiccompensatorb(s) 162
6.4 Parameterspaceapproachtorepetitivecontrol 164
6.4.1 Mappingrobustperformancefrequencydomain
specificationsintocontrollerparameterspace 165
6.5 Casestudy:high-speedatomicforcemicroscopescanner
positioncontrol 168
6.6 Casestudy:QuanserQUBE™Servosystem 172
6.7 COMEStoolbox:repetitivecontrolsystemdesign 174
6.8 Discrete-timerepetitivecontrol 174
6.8.1 Basicelementsofdiscrete-timerepetitivecontrol 175
6.8.2 Discrete-timerepetitivecontroldesignprocedure
basedontheparameterspaceapproach 178
6.9 Casestudy:high-speedatomicforcemicroscopescanner
positioncontrol 180
6.10 Chaptersummaryandconcludingremarks 184
References 185
7 Summaryandconclusions 191
7.1 Summary 191
7.2 Conclusions 192
AppendixA Rapidcontrolprototypingandhardware-in-the-loop
simulation 193
Index 195