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ECE4510/ECE5510, INTRODUCTION TO FEEDBACK CONTROL 1–8

5. Functional block diagram:

Compen-

sator

r (t)

y(t)

w(t)

u(t)

0.5

r (t)—reference speed, MPH.

u(t)—throttle posn., %.

y(t)—actual speed, MPH.

w(t)—road grade, %.

4. Design compensator/controller

• First attempt = “open loop” controller.

Compensator

1/10

r (t)

(t)

w(t)

u(t)

0.5

(t) = 10

(

u(t) − 0.5w(t)

)

= 10

r(t)

− 0.5w(t)

= r(t) − 5w(t).

5. Evaluate design: Percent error is computed as 100

r(t) − y

(t)

r(t)

• r (t) = 55, w(t) = 0 # y

(t) = 55.Noerror...Good.

• r (t) = 55, w(t) = 1 # y

(t) = 50. ≈ 10 % error...Notgood.

• r (t) = 55, w(t) = 2 # y

(t) = 45. ≈ 20 % error...Notgood.

Lecture notes prepared by and copyright

! 1998–2013, Gregory L. Plett and M. Scott Trimboli

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APC UCCS Temperature Control Manual de usuario Pagina 8