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273-277, 1989
Printedin GreatBritain.
Brief Paper
Au(k) = g ( k ) [ e ( k ) + r o ( k ) A e ( k ) + r ~ ( k ) A e e ( k ) ]
(1)
274
Brief Paper
= rl(k)[A2e(k)l.
le(k)l
and
te(k)l
rl(k) =
IAe(k)l
(3)
le(k)[
IAe(k)l
(7)
T , ( k ) = f [ T , ( k - 1)].
I-'A'~'e(k) I
(8)
condition of convergence
verified by applying the
i.e. Banach's fixed point
et al. (1981), and Collatz
(2)
- 1)]1;
~< 1
and
f[T,(k)] - f [ T , ( k
- 1)] = Af[T~(k)]
we have
~( IAT,(k)l ~ IA/[T,(k)]l.
Hence
~r~> Af[r,(k)]
The continuous version of the last expression requires
af[T,(k)]
.
~t~> ~
= r,(k).
(4)
Consequently
= r,(k)T,.(k)
where
IAe(k)l
T~(k ) = _ _ .2 e ( k )------~l"
(6)
ATe(k) = L [ l e ( k ) l -
T~(k - 1)LAe(k)l ].
(10)
Im
(9)
(11)
Re
e Olrl2e_
roAe
FIG. 1. Phase shift of the proposed PSD controller.
(12)
(13)
Brief Paper
Using the former results (cf. Margik and Strejc (1985)) the
optimum value of the ratio F = T~,/T~ is approximatively 0.5,
which yields T, = 2T~.
Hence, the controller equation can be further modified to
the form
275
fe(k)
"=[~,(k)=
T~,(k)
T,(k)
(16)
(14)
l).
(17)
3. Gain adaptation
Several algorithms were developed for gain adaptation
which may also be mutually combined. They are based on
different principles but finally they give very similar results.
Gain adaptation corresponds always to the conventional
control action of maintaining a certain variable or index at a
desired value according to a given criterion. For this aim
extremely simple control algorithms were developed. They
are based on new performance criteria utilizing certain
geometrical properties of the control error process. The
algorithms evaluate either the damping or the degree of the
oscillatory behaviour of the control process. It is to be
stressed that no special test signals or identification
procedures are required. The current control process is quite
sufficient for self-tuning.
Since the quadratic optimum yields, as a rule, oscillatory
control processes, the overall closed loop behaviour can be
approximated by a second order model, irrespective of the
plant order. Among all roots of the characteristic equation
there is a dominant pair of complex conjugate roots which
determines the shape of the transient response. Therefore,
optimal step responses of different control loops are fairly
similar, consisting of exponentials and a single damped sine
wave, with additional sine waves being negligible. Thus
adequate damping is a sufficient quality criterion to enable us
to design simple and robust adaptive controllers.
The performance indices presented in this paper serve as
detectors of the sine wave level in the control process. These
criteria are rather intuitive, nevertheless they can be
calibrated by means of sine waves with various damping
ratios. The common approach to derivation of the
identification-free algorithms for adaptive control can be
characterized by the following steps:
--finding a suitable formula for the index of the damping or
of the control process oscillatory behaviour by educated
reasoning;
----calculation of boundary values of the selected index using,
for example, sine wave and by exponential functions,
thereby defining the interval in which it is possible to select
the index value corresponding to the desired shape of the
control process;
---find out the index value according to control requirements
by simulation and experiments, verifying in this way the
applicability and usefulness of the proposed index of
control.
3.1. Application o f the index o f the control process
oscillatory behaviour. The approach established using the
index of the control process oscillatory behaviour was
described in detail in the publication by Margik and Strejc
(1985). The increment of gain was derived in the form
Ag(k) = ),g(k - 1 )/~ - ( ~~'~f
_ 1)
1)_
(15)
Ag(k)
To(k - 1) cg(k - 1)
(18)
(19)
or approximately by
W ( k ) = sign e(k) sign [A2e(k)].
(20)
(21)
if
( W ( k ) + W , cO~O.
276
Brief Paper
Ta = T, + q,dT, + Td).
(27)
Am(k) = 0 . 1 m ( k - 1)
x sign [IA2e(k)[ - m(k - I) IAe(k)[].
(22)
(23)
For e(t) = E sin tot the value of Isign e + sign A2e] is always
zero and for e(t)= exp (-at) it is equal to two. In view of
this fact, d was denoted as damping index which may vary in
the interval 0 ~<d ~< 2. The optimum value of d found by
experiments is d~f = 0.6 yielding a slightly oscillating control
process as in the case of the criterion (20). Equilibrium is
reached for d - dr~f = 0. In that case Ag = 0.
For the gain tuning we may write the following relation:
Ag(k) = 0.1m(k - 1)g(k - 1)
x [Isign e(k) + sign A2e(k)l - d,ef].
(24)
ag(k) = - 0 . 1 m ( k -
1 ) g ( k - 1)
x [sign e(k) sign Ae(k) + qref].
(25)
if
q(k)+q,ef<~O.
(26)
4. Applications
Applications are concerned with control as well as
compensation of disturbances. Transport lag in the
controlled system does not present any difficulties.
Numerous examples have been simulated with good
results. Two examples of simulated processes are shown in
Figs 3 and 4. In both examples the controlled system was
described by the discrete transfer function
S(z)
,~o
FtG. 2. Control
Ti "
Itl
Td
I,t
-t)3"
1.5
0.4--
0.3--
0.5
gi
0.125
(1 - 0 . 5 z
yiu
5
10
15
20
25
30
35
40
Brief Paper
0.5-
1.5
0.4
0.3g
0.5
y,u
T1
o.2
10
15
~ ~
20
25
30
277
35
=,k
40
5. Conclusion
The presented contribution is devoted to adaptive control
algorithms not needing a mathematical model of the system
to be controlled and, consequently not needing special test
signals and the identification of the system parameters
evaluated by the data measured on the input and output of
the system.
The simple algorithms make it possible to design
single-chip microcomputers for three-term controllers. The
algorithms are rather robust and tested in numerous
simulations and real time experiments.
References
L. (1964). Funktionalanalysis
Mathematik, 371 pp. Springer, Berlin.
Collatz,
(p+l) 4
20
I
Flo.
5. Adaptive
MUTO 2 ~ / 2 - H
30
I
"
acting
und nurnerische