feedback and control

Portland State University Electrical & Computer Engineering

ECE 311 Feedback & Control

-Term Project- Project Description Develop a GUI-based controls design environment. For given plant and feedback transfer functions, the user can tune a controller to meet particular design objectives. The GUI allows the user to see changes to controller parameters in real-time; plots and variables adjust as the user changes the tuning values. The design environment need address only simple, closed-loop systems, as shown in the figure below. Specifications for the design environment and GUI are noted below.

)(tr )(tcΣ+ -

 sD Σ+ +

)(td

 sG

 sH

Specifications Environment SHALL

1. Use Matlab1 as the programming environment 2. Allow a user to tune the gains of a PID controller 3. Calculate tr (0.1 to 0.9 constraint ), ts (2% constraint), tp and Mp, when appropriate 4. Determine system stability and calculate the number of RHP poles (Routh) 5. Calculate gain margin 6. Calculate phase margin

GUI SHALL

7. Allow for input of PID gains 8. Allow for specification of the plant transfer function, G(s), up to 4th-order 9. Allow for specification of the feedback transfer function, H(s), up to 2nd-order 10. Show system transient response to a unit-step input2 11. Show the Root Locus plot 12. Show the closed-loop Bode plot

1 Including Simulink as an optional tool

2 The design environment should show results to a reference input, r(t), unless specified by the user to

examine a disturbance input, d(t), as noted by Environment SHOULD specification 5.

13. Show the open-loop Bode plot 14. Show results from calculations in the Environment 15. Show changes to controller variables within all plots and calculations in real-time

Environment SHOULD

1. Allow the user the option of using either a PID, lag or lead controller 2. Allow the user to tune the gain and select the p/z of a lead controller 3. Allow the user to tune the gain and select the p/z of a lag controller 4. Allow user to specify the ts constraint as either 1%, 2% or 5% 5. Allow the user to examine all aforementioned system responses to a disturbance input, d(t)

GUI SHOULD

6. Show the Nyquist plot 7. Show system transient response to a unit-ramp input 8. Overlay the allowable pole zones on the s-plane of the Root Locus plot

GUI MIGHT

1. Show the location of the open-loop p/z on the Root Locus plot 2. Show the location of the closed-loop p/z on the Root Locus plot 3. Show asymptotes within the Root Locus plot 4. Show GM and PM within the Bode and/or Nyquist plots 5. Show system transient response to a unit-impulse input 6. Allow the user to specify which plots to view and which to suppress.

Environment MIGHT

7. Allow user to specify the ts constraint along a continuum. 8. Allow the user to specify the tr constraint. 9. Allow the user to input transient response specifications and acknowledge when those

specifications have been met. 10. Allow the user to input a steady-state step error specification and acknowledge when that

specification has been met. 11. Allow the user to input a steady-state ramp error specification and acknowledge when that

specification has been met.

Deliverables The project is due by the COB on Friday of the tenth week of the term. Send to the course instructor, via email, all of the following:

 All program files

 A concise user manual describing how to operate the design tool

 Test results using the plant and controller from THQ#3