Observers in control systems : a practical guide

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 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. Observers in Control Systems 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 ( Second 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 online: 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 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 Observers in Control Systems 1 Acknowledgments 10 Safety 12 1 Control Systems and the Role of Observers 14 1.1 Overview 14 1.2 Preview of Observers 15 1.3 Summary of the Book 17 2 Control-System Background 18 2.1 Control-System Structures 18 2.2 Goals of Control Systems 26 2.3 Visual ModelQ Simulation Environment 30 2.4 Software Experiments: Introduction to Visual ModelQ 31 2.5 Exercises 52 3 Review of the Frequency Domain 54 3.1 Overview of the s-Domain 54 3.2 Overview of the z-Domain 67 3.3 The Open-Loop Method 72 3.4 A Zone-Based Tuning Procedure 75 3.5 Exercises 79 4 The Luenberger Observer: Correcting Sensor Problems 80 4.1 What Is a Luenberger Observer? 80 4.2 Experiments 4A-4C: Enhancing Stability with an Observer 85 4.3 Predictor-Corrector Form of the Luenberger Observer 90 4.4 Filter Form of the Luenberger Observer 91 4.5 Designing a Luenberger Observer 95 4.6 Introduction to Tuning an Observer Compensator 103 4.7 Exercises 108 5 The Luenberger Observer and Model Inaccuracy 110 5.1 Model Inaccuracy 110 5.2 Effects of Model Inaccuracy 113 5.3 Experimental Evaluation 115 5.4 Exercises 127 6 The Luenberger Observer and Disturbances 128 6.1 Disturbances 128 6.2 Disturbance Response 136 6.3 Disturbance Decoupling 142 6.4 Exercises 151 7 Noise in the Luenberger Observer 154 7.1 Noise in Control Systems 154 7.2 Sensor Noise and the Luenberger Observer 158 7.3 Noise Sensitivity when Using Disturbance Decoupling 169 7.4 Reducing Noise Susceptibility in Observer-Based Systems 174 7.5 Exercises 183 8 Using the Luenberger Observer in Motion Control 186 8.1 The Luenberger Observers in Motion Systems 186 8.2 Observing Velocity to Reduce Phase Lag 198 8.3 Using Observers to Improve Disturbance Response 215 8.4 Exercises 225 References 226 A Observer-Based Resolver Conversion in Industrial Servo Systems1 230 B Cures for Mechanical Resonance in Industrial Servo Systems1 231 Introduction 231 Two-Part Transfer Function 232 Low-Frequency Resonance 233 Velocity Control Law 234 Methods of Correction Applied to Low-Frequency Resonance 235 Conclusion 239 Acknowledgments 239 References 239 C European Symbols for Block Diagrams 241 Part I: Linear Functions 241 Part II: Nonlinear Functions 242 D Development of the Bilinear Transformation 245 Bilinear Transformation 245 Prewarping 246 Factoring Polynomials 247 Phase Advancing 247 Solutions to Exercises 249 Chapter 2 249 Chapter 3 249 Chapter 4 250 Chapter 5 250 Chapter 6 251 Chapter 7 252 Chapter 8 253 Index 255 Referex