Design of Disturbance Rejection Controllers for a Magnetic.pptVIP

Design of Disturbance Rejection Controllers for a Magnetic Suspension System By: Jon Dunlap Advisor: Dr. Winfred K.N. Anakwa Bradley University April 27, 2006 Outline Of Presentation: Goal System Information Previous Lab Work Preliminary Lab Work Internal Model Principle Design Process Results Conclusion Goal Multiple Controllers for Multiple Disturbances Digital Controllers Created In Simulink xPC Target Box Serving as “Controller Container” Minimize Steady-State Error, Overshoot and Setting Time Act As A Stepping Stone From Previous Work Practical Use in Antenna Stabilization Method Method of Choice: Internal Model Principle B.A. Francis W.M. Wonham The Internal Model Principle of Control Theory, 1976 Chi-Tsong Chen Linear System Theory and Design, 3rd, 1999 Analogous to an Umbrella Functional Description Host PC using Simulink and xPC software xPC Target Box with Controllers Magnetic Suspension System Feedback Incorporated 33-210 Block Diagram Previous Lab Work Using Classical Controller Will It Reject Disturbances? Previous Lab Work Results of Classical Controller With Disturbance Rejected Step Disturbance Preliminary Lab Work Laplace Transfer Functions Found Later Converted To Discrete Using Zero-order Hold Internal Model Principle Uses a Model to Cancel Unstable Poles of Reference and Disturbance Inputs to Provide Asymptotic Tracking and Disturbance Rejection Model Is: Least Common Multiple of Unstable or Zero Continuous Denominator Poles Ramp Disturbance Input = 0,0 Step Reference Input = 0 Model = P = 0,0 Design Approach Disturbance Removed – Model Inserted Must Stabilize Plant at all Times Disturbance Should Never Affect Plant Output 3 Known, 2 Unknown A(z)D(z)P(z) + B(z)N(z) Diophantine Equation A(z)D(z)P(z) + B(z)N(z) = F(z) Want: Choose Poles to Form F Polynomial Discrete, Close to 1 Need: Order of Controller Order of D(z)P(z) – 1 = Order of Controller Order of F 2*(Order of D(z)P(z))-1 = Order of F Keep