controller structure & nonsmooth programming - Pierre Apkarian - Free

More documents

Recommendations

Info

challenges nonsmooth opt. MATLAB tools The End workflow 1 • specify tunable blocks in Simulink model ST = slTunable(’passenger_jet’,{’Ki’,’Kp’,’Kq’,’Kf’,’RollOff’}); • initialize roll-off filter wn = realp(’wn’, 3); zeta = realp(’zeta’,0.8); Fro = tf(wn^2,[1 2*zeta*wn wn^2]); ST.setBlockParam(’RollOff’,Fro) • define spec. channels T1=ST.getIOTransfer(’Nzc’,’e’); % tracking T2=ST.getIOTransfer(’n’,’delta_m’); % roll-off T3=ST.getIOTransfer(’w’,’delta_m’); % margins • add weighting filters for each spec. H0 = blkdiag( W1*T1, W2*T2, W3*T3) Magnitude (dB) 80 60 40 20 0 −20 −40 −60 W1 (tracking) W2 (roll−off) W3 (margins) Bode Diagram no cross terms here! −80 −100 −120 10 −3 10 −2 10 −1 10 0 10 1 10 2 10 3 10 4 10 5 Frequency (rad/s) controller structure & nonsmooth programming - http://pierre.apkarian.free.fr 26 / 28
challenges nonsmooth opt. MATLAB tools The End workflow 2 • tune parameters with HINFSTRUCT H = hinfstruct(H0); % H is tuned version of H0 • push tuned values into structure for simulation ST.setBlockValue(H) ; Step Response Step Response 1.4 1.2 From: Nzc To: Nz Actual response Gref response 0.01 0.005 From: Nzc To: delta m Total Feedforward Feedback 80 60 Bode Diagram From: delta m To: delta m Open−Loop Response 1/W2 N z 1 0.8 0.6 δ m 0 −0.005 −0.01 −0.015 −0.02 Magnitude (dB) 40 20 0 −20 −40 180 90 0.4 0.2 −0.025 −0.03 −0.035 Phase (deg) 0 −90 −180 0 0 1 2 3 4 5 6 Time (sec) −0.04 0 1 2 3 4 5 6 Time (sec) −270 10 −3 10 −2 10 −1 10 0 10 1 Frequency (rad/s) • single run < 4 sec. on desktop PC controller structure & nonsmooth programming - http://pierre.apkarian.free.fr 27 / 28
Page 1 and 2: controller structure & nonsmooth pr
Page 3 and 4: challenges nonsmooth opt. MATLAB to
Page 31: challenges nonsmooth opt. MATLAB to

controller structure & nonsmooth programming - Pierre Apkarian - Free

Create successful ePaper yourself

Delete template?

Save as template?