Observers in Control Systems: A Practical Guide
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Table of contents
- Contentsvii
- Acknowledgementsxi
- Safetyxiii
- Chapter 1. Control Systems and the Role of Observers1
- 1.1 Overview1
- 1.2 Preview of Observers2
- 1.3 Summary of the Book4
- Chapter 2. Control-System Background5
- 2.1 Control-System Structures5
- 2.2 Goals of Control Systems13
- 2.3 Visual ModelQ Simulation Environment17
- 2.4 Software Experiments: Introduction to Visual ModelQ18
- 2.5 Exercises39
- Chapter 3. Review of the Frequency Domain41
- 3.1 Overview of the s-Domain41
- 3.2 Overview of the z-Domain54
- 3.3 The Open-Loop Method59
- 3.4 A Zone-Based Tuning Procedure62
- 3.5 Exercises66
- Chapter 4. The Luenberger Observer: Correcting Sensor Problems67
- 4.1 What Is a Luenberger Observer?67
- 4.2 Experiments 4A–4C: Enhancing Stability with an Observer72
- 4.3 Predictor–Corrector Form of the Luenberger Observer77
- 4.4 Filer Form of the Luenberger Observer78
- 4.5 Designing a Luenberger Observer82
- 4.6 Introduction to Tuning an Observer Compensator90
- 4.7 Exercises95
- Chapter 5. The Luenberger Observer and Model Inaccuracy97
- 5.1 Model Inaccuracy97
- 5.2 Effects of Model Inaccuracy100
- 5.3 Experimental Evaluation102
- 5.4 Exercises114
- Chapter 6. The Luenberger Observer and Disturbances115
- 6.1 Disturbances115
- 6.2 Disturbance Response123
- 6.3 Disturbance Decoupling129
- 6.4 Exercises138
- Chapter 7. Noise in the Luenberger Observer141
- 7.1 Noise in Control Systems141
- 7.2 Sensor Noise and the Luenberger Observer145
- 7.3 Noise Sensitivity when Using Disturbance Decoupling156
- 7.4 Reducing Noise Susceptibility in Observer-Based Systems161
- 7.5 Exercises170
- Chapter 8. Using the Luenberger Observer in Motion Control173
- 8.1 The Luenberger Observers in Motion Systems173
- 8.2 Observing Velocity to Reduce Phase Lag185
- 8.3 Using Observers to Improve Disturbance Response202
- 8.4 Exercises212
- References213
- Appendix A. Observer-Based Resolver Conversion in Industrial Servo Systems217
- Introduction218
- Resolvers and Traditional RDC218
- Converting the Signal219
- Observers221
- Applying the Observer to RDC222
- Advantages of Observer-Based Conversion224
- Conclusion226
- References226
- Appendix B. Cures for Mechanical Resonance in Industrial Servo Systems227
- Introduction227
- Two-Part Transfer Function228
- Low-Frequency Resonance229
- Velocity Control Law230
- Methods of Correction Applied to Low-Frequency Resonance231
- Conclusion235
- Acknowledgments235
- References235
- Appendix C. European Symbols for Block Diagrams237
- Part I: Linear Functions237
- Part II: Nonlinear Functions238
- Appendix D. Development of the Bilinear Transformation241
- Bilinear Transformation241
- Prewarping242
- Factoring Polynomials243
- Phase Advancing243
- Appendix E. Solutions of Exercises245
- Chapter 2245
- Chapter 3245
- Chapter 4246
- Chapter 5246
- Chapter 6247
- Chapter 7248
- Chapter 8249
- Index251
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
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