POPCA3 RSTControlTutorial

RST Digital Controls
POPCA3 Desy Hamburg 20 to 23rd may 2012
Fulvio Boattini
CERN TE\EPC
Bibliography
Digital Control Systems: Ioan D. Landau; Gianluca Zito

Computer Controlled Systems. Theory and Design: Karl J. Astrom; Bjorn
Wittenmark
Advanced PID Control: Karl J. Astrom; Tore Hagglund;
Elementi di automatica: Paolo Bolzern
SUMMARY
SUMMARY
RST Digital control: structure and calculation
RST equivalent for PID controllers
RS for regulation, T for tracking
Systems with delays
RST at work with POPS
Vout Controller
Imag Controller
Bfield Controller
Conclusions
RST Digital control: structure and calculation
RST calculation: control structure

R r0 r1 z 1 r2 z 2 ... rn z n
S s0 s1 z 1 s2 z 2 ... sn z n
T t0 t1 z 1 t 2 z 2 ... t n z n
A combination of FFW and FBK actions
that can be tuned separately
S u T r R y
T
Hff
S
R
Hfb
S
REGULATION
y
A S
d A S B R
A( z 1 ) S ( z 1 ) B( z 1 ) R( z 1 ) Pdes ( z 1 )
TRACKING
Pdes ( z 1 )
T B(1)
Pdes (1)
B(1)
y
B T
r A S B R
RST calculation: Diophantine Equation

Getting the desired polynomial
2
s2 2 s 2
2 100
0.3
0.001949 z -1 + 0.001924 z -2
1 - 1.959 z -1 + 0.963 z -2
Sample Ts=100us
Pdes 1 - 1.959 z -1 + 0.963 z -2

Calculating R and S: Diophantine Equation
A( z 1 ) S ( z 1 ) B ( z 1 ) R ( z 1 ) Pdes ( z 1 ) M x p
Matrix form:
nB+d
xT 1, s1 ,..., snS , r0 , r1 ,..., rnR
0
b1
b2
bnB
0
0
0 bnB
... ...
0
0
0
b1
b2
nA+nB+d
p T 1, p1 ,..., pnP ,0,...,0
1 0 ... 0
a
0
1
a2
1
M
a1
anA
a2
0
0 ... 0 a
nA
nA
RST calculation: fixed polynomials

Controller TF is:
R ( z 1 )
Hfb
S ( z 1 )
Add integrator
R( z 1 )
1 z 1 S * ( z 1 )
Add 2 zeros more on S A 1 z 1 1 1 z 1 2 z 2 S *

y
A S
A S B R
d A S B R
Integrator active on step reference and step disturbance.

Attenuation of a 300Hz disturbance
A( z 1 ) Hs ( z 1 ) S ( z 1 ) B ( z 1 ) Hr ( z 1 ) R ( z 1 ) Pdes ( z 1 )
Hs ( z 1 ) fixed part of S
Hr ( z 1 ) fixed part of R
RST equivalent for PID controllers
RST equivalent of PID controller: continuous PID design

Consider a II order system:
B
2
2
A s 2 s 2
2 100
0 .3
Pole Placement for

continuous PID
1
PID Kp 1
s Td
s Ti
HclPIDc
Kp
Ti
Kd Kp Td
Ki
PID Hsy
HclPIDc.Den 1 PID Hsy
1 PID Hsy
s 3 2 Kd 2 s 2 Kp 2 2 s Ki 2 s 0 0 s 2 2 0 0 s 0
RST equivalent of PID controller: continuous PID design

Consider a II order system:
B
2
2
A s 2 s 2
2 100
02
Kp 1 2 0 0 2 1
03
Ki 0 2
2 0 0 2
Kd 0
2
0 .3
1
s Td
PIDf Kp 1
s Ti 1 s Td
N
Kp
Ti
Kd Kp Td
Ki
RST equivalent of PID: s to z substitution

All control actions on error
T ( z 1 ) R( z 1 )
Proportional on error;
Int+deriv on output
T ( z 1 ) R(1)
R ( z 1 ) r0 r1 z 1 r2 z 2
1
Choose R and S coeffs such that the 2 TF
PIDd
(
z
)
are equal
S ( z 1 ) s0 s1 z 1 s 2 z 2
Ts 1 z 1
R r 0 r1 z 1 r 2 z 2
N Td 1 z 1
PIDd Kp 1

1
1
Td N Ts N Ts 1 Td z S s0 s1 z 1 s 2 z 2
1 z
Ti
= 0 forward Euler
= 1 backward Euler
= 0.5 Tustin
RST equivalent of PID: pole placement in z

Choose desired poles
2
s2 2 s 2
0.001949 z -1 + 0.001924 z -2
2 150 Sample Ts=100us
-1
-2
1
1.959
z
+
0.963
z
0.8
Pdes 1 - 1.959 z -1 + 0.963 z -2
Choose fixed parts for R and S
Hs 1 z 1
Hr 1

1
1
*
1
A( z ) Hs ( z ) S ( z ) B ( z 1 ) Hr ( z 1 ) R * ( z 1 ) Pdes ( z 1 )
RST equivalent of PID: pole placement in z

The 3 regulators behave very
similarly
Increasing Kd
Manual Tuning with Ki, Kd and

Kp is still possible
RS for regulation, T for Tracking
RS for regulation, T for tracking
Pdes s 0 0 s 2 2 0 0 s 0
REGULATION
Diophantine Equation : A Hs S * B R Pdes Paux
=942r/s
=0.9
=31400r/s
=0.004
Hol
0 1.5 0 940r / s 0 0.9
=1260r/s
=1
B R 0.022626 z^-1 (1 + 0.9875z^-1) (1 - 1.929z^-1 + 0.9322z^-2)
A S
(1 - z^-1) (1 - 0.6494z^-1) (1 - 1.959z^-1 + 0.963z^-2)
Closed Loop TF without T

Hcl
Pure delay
Hcl
After the D. Eq solved we get the following open loop TF:
Hs [1 1] integrator
TRACKING
=1410r/s
=1
Pdes Paux
B(1)
T B
0.50314 z^-1 (1 + 0.9875z^-1)
A S B R
1
T polynomial compensate most of

the system dynamic
B
0.0019487 z^-1 (1 + 0.9875z^-1)
A S B R (1 - 0.8819z^-1) (1 - 0.8682z^-1) (1 - 1.836z^-1 + 0.844z^-2)
Systems with delays
Systems with delays

II order system with pure delay
B
2 e s
2
A s 2 s 2
2 100r / s
0.3
Sample Ts=1ms
3ms
0.1692 z -4 + 0.149 z -5
1 - 1.368 z -1 + 0.6859 z -2
Continuous time
PID is much
slower than before
Systems with delays

Predictive controls
Diophantine Equation
A( z 1 ) S ( z 1 ) z d B0 ( z 1 ) R( z 1 ) A( z 1 ) Paux ( z 1 )
Choose fixed parts for R and S
Hs 1 z 1
Hr 1

Vout Controller
Imag or Bfield control
Ppk=60MW
Ipk=6kA
Vpk=10kV
RST at work with POPS: Vout Control

Lfilt
Imag
Iind
Cdmp
Vout
Vin
Icdmp
Icf
Cf
III order output filter
Rdmp
Decide desired dynamics
2
s2 2 s 2
2 150 c 2 d Ts 1ms 0.1431 z -1 + 0.1043 z -2

0.85
1 - 1.142 z -1 + 0.3897 z -2
Pdes 1 - 1.142 z -1 + 0.3897 z -2

Eliminate process well dumped zeros
Pzeros z - 0.8053
y
B T
r A S B R
Solve Diophantine Equation
A( z 1 ) S ( z 1 ) B ( z 1 ) R ( z 1 ) Pdes ( z 1 ) Pzeros ( z 1 )
Calculate T to eliminate all dynamics
Pdes ( z 1 )
T (z )
B (1)
1
HF zero
responsible for
oscillations
Well not very nice performance.

There must be something odd !!!
Identification of output filter with a step
Put this back in the RST

calculation sheet

In reality the response is a bit less nice but still very good.
Performance to date (identified with initial step

response):
Ref following: 130Hz
Disturbance rejection: 110Hz
Ref following -----Dist rejection ------
RST at work with POPS: Imag Control

PS magnets deeply saturate:
Magnet transfer function for Imag:
I mag
Vmag
1
s Lmag Rmag
Lmag 0.96 H
Rmag 0.32
The RST controller was badly oscillating at the flat

top because the gain of the system was changed
26Gev without Sat compensation
RST at work with POPS: Imag Control
26Gev with Sat compensation
RST at work with POPS: Bfield Control

Tsampl=3ms.
Ref following: 48Hz
Disturbance rejection: 27Hz
Magnet transfer function for Bfield:
Bmag
Vmag
s K mag
1
Rmag
Lmag
Lmag 0.96 H
Rmag 0.32
K mag
K mag 2.5
Error<0.4Gauss
Error<1Gauss
RST control: Conclusions

RST structure can be used for basic PID controllers and
conserve the possibility to manual tune the performances
It has a 2 DOF structure so that Tracking and Regulation
can be tuned independently
It include naturally the possibility to control systems with
pure delays acting as a sort of predictor.
When system to be controlled is complex, identification is
necessary to refine the performances (no manual tuning is
available).
A lot more. But time is over !
Thanks for the attention

Questions?
Towards more complex systems

(test it before !!!)
Unstable filter+magnet+delay
150Hz
Ts=1ms
1.2487 (z+3.125) (z+0.2484)
-------------------------------------z^3 (z-0.7261) (z^2 - 1.077z + 0.8282)
Unstable filter+magnet+delay
Choose Pdes as 2nd order system 100Hz well dumped
Aux Poles for Robusteness lowered

the freq to about 50Hz @-3dB
(not Optimized)

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RST Digital Controls

POPCA3 Desy Hamburg 20 to 23rd may 2012

Digital Control Systems: Ioan D. Landau; Gianluca Zito

POPCA3 Desy Hamburg 20 to 23rd may 2012

RST Digital control: structure and calculation

POPCA3 Desy Hamburg 20 to 23rd may 2012

RST calculation: control structure

POPCA3 Desy Hamburg 20 to 23rd may 2012

RST calculation: Diophantine Equation

Pdes 1 - 1.959 z -1 + 0.963 z -2

xT 1, s1 ,..., snS , r0 , r1 ,..., rnR

POPCA3 Desy Hamburg 20 to 23rd may 2012

p T 1, p1 ,..., pnP ,0,...,0

RST calculation: fixed polynomials

Add 2 zeros more on S A 1 z 1 1 1 z 1 2 z 2 S *

Integrator active on step reference and step disturbance.

Calculating R and S: Diophantine Equation

RST equivalent for PID controllers

POPCA3 Desy Hamburg 20 to 23rd may 2012

RST equivalent of PID controller: continuous PID design

Pole Placement for

POPCA3 Desy Hamburg 20 to 23rd may 2012

RST equivalent of PID controller: continuous PID design

POPCA3 Desy Hamburg 20 to 23rd may 2012

RST equivalent of PID: s to z substitution

POPCA3 Desy Hamburg 20 to 23rd may 2012

RST equivalent of PID: pole placement in z

Choose fixed parts for R and S

Calculating R and S: Diophantine Equation

POPCA3 Desy Hamburg 20 to 23rd may 2012

RST equivalent of PID: pole placement in z

Manual Tuning with Ki, Kd and

POPCA3 Desy Hamburg 20 to 23rd may 2012

RS for regulation, T for Tracking

POPCA3 Desy Hamburg 20 to 23rd may 2012

RS for regulation, T for tracking

Diophantine Equation : A Hs S * B R Pdes Paux

0 1.5 0 940r / s 0 0.9

B R 0.022626 z^-1 (1 + 0.9875z^-1) (1 - 1.929z^-1 + 0.9322z^-2)

Closed Loop TF without T

After the D. Eq solved we get the following open loop TF:

T polynomial compensate most of

A S B R (1 - 0.8819z^-1) (1 - 0.8682z^-1) (1 - 1.836z^-1 + 0.844z^-2)

Systems with delays

POPCA3 Desy Hamburg 20 to 23rd may 2012

Systems with delays

POPCA3 Desy Hamburg 20 to 23rd may 2012

Systems with delays

POPCA3 Desy Hamburg 20 to 23rd may 2012

RST at work with POPS

POPCA3 Desy Hamburg 20 to 23rd may 2012

RST at work with POPS

Imag or Bfield control

POPCA3 Desy Hamburg 20 to 23rd may 2012

RST at work with POPS: Vout Control

III order output filter

Decide desired dynamics

2 150 c 2 d Ts 1ms 0.1431 z -1 + 0.1043 z -2

Pdes 1 - 1.142 z -1 + 0.3897 z -2

Solve Diophantine Equation

POPCA3 Desy Hamburg 20 to 23rd may 2012

RST at work with POPS: Vout Control

Well not very nice performance.