By Leigh, James R
Motion imaginative and prescient: layout of compact movement sensing ideas for navigation of self sustaining structures - ISBN 0863414532
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Additional resources for Applied control theory
Should the furnace temperature exceed a user-fixed upper limit the worm is stopped. 1 illustrates the operation. Notice in particular the simple actuator arrangement. A two-speed gearbox is all that is required. A controller with a continuous output would have required an infinitely variable-speed drive for the worm, with consequent increase in cost. 3 One-, two- and three-term controllers From a theoretical standpoint, the simplest controller of all is one that compares a measured value with the desired value and, multiplying by a gain k, closes the control loop.
3(c) need at least a secondorder model and a numerator term if they are to be modelled at all accurately. Once the process model of form (Ke"$T2)/(l + sTt) is available, Ziegler and Nichols (1942) suggest the following settings for the three-term controller: Proportional gain only 1 T k = — —; A T2 Proportional + integral controller Three-term controller k = 1*2 T k = —~~, A T2 0-9 Tx , K T2 7> = 2T2, 7/ = 3*3T2; TD = 0-57^. Notice that the settings suggested by Ziegler and other authors envisage step changes in desired value.
R(k) is the desired value at time step k. The best values for the coefficients are preferably found by a simulation exercise, since the number of parameters makes on-line tuning difficult. 3 Finite-settling time control A sampled data system is said to be finite-time settling if its response can be expressed as a finite polynomial in the operator z. This can be achieved provided that the poles of the system are at z = 0. A control algorithm, based on this approach, is described below. The aim of the algorithm is to obtain a step response similar to that of Fig.
Applied control theory by Leigh, James R