Design of Reduced Order Controllers via HN and Parametric Optimization
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Transcript of Design of Reduced Order Controllers via HN and Parametric Optimization
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8/12/2019 Design of Reduced Order Controllers via HN and Parametric Optimization
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G
K
z
y
w
u
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K P
p
yu
r
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G (z)p
u
u
s
p
Plant
y
(Residual force)G (z)
s
(Shaker input)
(Control input)
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0 50 100 150 200 250 300 350 400
0 50 100 150 200 250 300 350 400
Frequency (Hz)
Primary path
Secondary path
60
50
40
30
20
10
0
10
20
30
20
10
0
10
20
30
40
Ma
gnitude(dB)
Magnitude(dB)
(a)
(b)
40
30
20
10
0
10
20
30
Frequency (Hz)
Magnitude(dB)
SimultaneousSum of separated
0 50 100 150 200 250 300 350 400
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0 50 100 150 200 250 300 350 400
0 50 100 150 200 250 300 350 400
Frequency (Hz)
30
20
10
0
10
20
8
10
12
14
16
18
Wy
(dB)
Wu
(dB)
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0 50 100 150 200 250 300 350 40060
55
50
45
40
35
30
25
20
15
10
Frequency (Hz)
Magnitude(dB)
Reduced orderFull order
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0 1 2 3 4 5
Time (s)
Open-loop
Param. opt.
0 1 2 3 4 5
Time (s)
0 1 2 3 4 5
Time (s)
Open-loopH
0 1 2 3 4 5
Time (s)
3
2
1
0
1
2
3
0.2
0.1
0
0.1
0.2
0.3
3
2
1
0
1
2
3
Output
0.2
0.1
0
0.1
0.2
0.3
Output
u u
0 50 100 150 200 250 300 350 400
0 50 100 150 200 250 300 350 400
Param. opt
H
5
0
5
10
80
60
40
20
0
Frequency (Hz)
Frequency (Hz)
|Typ
|(dB)
|Tup|
(dB)
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