Challenge for best Feedforward/Feedback control

JCH · 2007-11-23T12:58:35+00:00

On the basis of Peter's data set I tried to find the best control.Data set:Time, Position, Control Output0,0,10.1,0.0280961296169728,10.2,0.105480069053459,10.3,0.22321745414104,10.4,0.373993446175833,10.5,0.551819161757164,10.6,0.751791317868303,10.7,0.96989544591241,10.8,1.20284477699198,10.9,1.44794833233238,11,1.70300292485492,11.1,1.9662047375435,11.2,2.23607692993412,11.3,2.5114103673215,11.4,2.79121509393783,11.5,3.0746806025518,11.6,3.36114330596755,11.7,3.65005990494049,11.8,3.94098558367094,11.9,4.23355615778425,12,4.5274734583331,12.1,4.82249336523072,12.2,5.1184160098546,12.3,5.41507775361695,12.4,5.71234462057353,12.5,6.01010692049863,1I found the ODE for process transfer function: y=v10.1666699 y'' + 0.3333319 y' - 2.096008E-07 y = 1Filter used: y=u1.090314 y'' + 2.013555 y' + y = 0.4Benchmark scheme as shown on Pages 2/3/4Definitions: Page 1SolutionsWith disturbances but without disturbance compensation: Page 2Without disturbances, just feedforward (PID Feedback) : Page 3With disturbances and with disturbance compensation : Page 4Peter, your solution can be compared with Page 3. You have not used disturbances but have some erroneous behaviour.

Nov 23, 2007 22 Replies

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nattejas 18 years ago

snipped-for-privacy@d61g2000hsa.googlegroups.com...

Sorry, I was talking about the plots produced by Matlab's ltiview. Peter said that in his calculations the velocity looks like a sinusoidal motion with an average velocity of 3 position units per second. My quick calculations using ltiview do not show this behavior and I was wondering if this was due to some numerical error i.e. a mistake I made in the application of ltiview.

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JCH 18 years ago

Newsbeitragnews: snipped-for-privacy@e10g2000prf.googlegroups.com...

Newsbeitragnews: snipped-for-privacy@d4g2000prg.googlegroups.com...

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JCH 18 years ago

Peter,

there is nothing wrong with the process transfer function!

See Error Consideration and time scale 10 [1] (y = v1, [2])

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any time t the ODE is 1 plus error < 0.0001%

I used this process transfer. See Page 2/3/4 Fig.6

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[1] Time scale could be seconds or any other. [2] v1 scale could be meter or any other.

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