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

POPCA3 Desy Hamburg 20 to 23rd may 2012

 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

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

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 y A S
REGULATION
T d A S B R
Hff
S A( z 1 ) S ( z 1 ) B ( z 1 ) R ( z 1 ) Pdes ( z 1 )
R
Hfb
S y B T
TRACKING
r A S B R
Pdes ( z 1 )
T B (1)
Pdes (1)
B (1)
POPCA3 Desy Hamburg 20 to 23rd may 2012
 RST calculation: Diophantine Equation
Getting the desired polynomial

2 2 100 Sample Ts=100us 0.001949 z -1 + 0.001924 z -2

s2 2 s 2 0 .3 1 - 1.959 z -1 + 0.963 z -2
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 nA

xT 1, s1 ,...,snS , r0 , r1 ,...,rnR 1 0 ... 0 0 ... ... 0

a 0 b1 0
1
p 1, p1 ,..., pnP ,0,...,0

nA+nB+d
T
a2 1 b2 0

M a1 b1
anA a2 bnB b2

0 0
0 ... 0 a 0 bnB
nA 0 0

POPCA3 Desy Hamburg 20 to 23rd may 2012

 RST calculation: fixed polynomials

Controller TF is:

R ( z 1 ) Add integrator R ( z 1 )
Hfb
S ( z 1 )
1 z 1 S * ( z 1 )

y

A S
Add 2 zeros more on S A 1 z 1 1 1 z 1 2 z 2 S *
d A S B R A S B R

Integrator active on step reference and step disturbance.

Attenuation of a 300Hz disturbance

Calculating R and S: Diophantine Equation

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

POPCA3 Desy Hamburg 20 to 23rd may 2012

 RST equivalent for PID controllers

POPCA3 Desy Hamburg 20 to 23rd may 2012

RST equivalent of PID controller: continuous PID design

Consider a II order system:

B 2 2 100
2
A s 2 s 2 0 .3
Pole Placement for
continuous PID

Kp
1 Ki
PID Kp 1 s Td Ti
s Ti Kd Kp Td
PID Hsy
HclPIDc 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
2

POPCA3 Desy Hamburg 20 to 23rd may 2012

RST equivalent of PID controller: continuous PID design
Consider a II order system:
B 2 2 100
2
A s 2 s 2 0 .3
02
Kp 1 2 0 0 2 1

1 s Td Ki
Kp
PIDf Kp 1
03 s Ti 1 s Td Ti
Kd Kp Td
Ki 0 2 N

Kd 0
2 0 0 2
2

POPCA3 Desy Hamburg 20 to 23rd may 2012

 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 )
S ( z 1 ) s0 s1 z 1 s2 z 2 are equal

Ts 1 z 1 N Td 1 z 1 R r 0 r1 z 1 r 2 z 2
PIDd Kp 1 1

Ti 1 z 1
Td N Ts N Ts 1 Td z S s0 s1 z 1 s2 z 2
= 0 forward Euler = 1 backward Euler = 0.5 Tustin

POPCA3 Desy Hamburg 20 to 23rd may 2012

 RST equivalent of PID: pole placement in z
Choose desired poles

2 2 150 Sample Ts=100us 0.001949 z -1 + 0.001924 z -2

s2 2 s 2 0 .8 1 - 1.959 z -1 + 0.963 z -2
Pdes 1 - 1.959 z -1 + 0.963 z -2

Choose fixed parts for R and S

Hs 1 z 1 Hr 1
Calculating R and S: Diophantine Equation

A( z ) Hs ( z ) S ( z ) B ( z 1 ) Hr ( z 1 ) R * ( z 1 ) Pdes ( z 1 )
1 1 * 1

POPCA3 Desy Hamburg 20 to 23rd may 2012

 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

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
REGULATION
Pdes s 0 0 s 2 2 0 0 s 0
2
0 1.5 0 940r / s 0 0.9

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

Hs [1 1] integrator
B R 0.022626 z^-1 (1 + 0.9875z^-1 ) (1 - 1.929z^-1 + 0.9322z^-2 )
Diophantine Equation : A Hs S * B R Pdes Paux Hol
A S (1 - z^-1) (1 - 0.6494z^-1 ) (1 - 1.959z^-1 + 0.963z^-2)

=942r/s
=0.9
Closed Loop TF without T
=31400r/s
=0.004 B 0.0019487 z^-1 (1 + 0.9875z^-1 )
Hcl
Pure delay A S B R (1 - 0.8819z^-1 ) (1 - 0.8682z^-1 ) (1 - 1.836z^-1 + 0.844z^-2)
=1410r/s
=1
=1260r/s
=1

Pdes Paux
TRACKING T
B(1)

T B 0.50314 z^-1 (1+ 0.9875z^-1)

Hcl
A S B R 1
T polynomial compensate most of
the system dynamic

POPCA3 Desy Hamburg 20 to 23rd may 2012

 Systems with delays

POPCA3 Desy Hamburg 20 to 23rd may 2012

 Systems with delays

II order system with pure delay

2 100r / s
B 2 e s 0.3 Sample Ts=1ms 0.1692 z -4 + 0.149 z -5
2
A s 2 s 2 3ms 1 - 1.368 z -1 + 0.6859 z -2

Continuous time
PID is much
slower than before

POPCA3 Desy Hamburg 20 to 23rd may 2012

 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
1
Hs 1 z Hr 1
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
Vout Controller Imag or Bfield control

Ppk=60MW
AC/DC converter - AFE
Ipk=6kA
18KV AC
DC/DC converter - charger module
DC/DC converter - flying module
Scc=600MVA

Vpk=10kV
MV7308 MV7308

DC DC

AC
AC AC
AC

CC1 CC2

MAGNETS
OF1 OF2

DC + - DC
CF1 CF2
Lw2

DC - RF1 RF2 + DC
CF11 CF21
DC3 DC4

Crwb1

Crwb2
DC + TW1 TW2 - DC

DC - + DC

DC1 Lw1 DC2

CF12 CF22

-
DC + DC

MAGNETS
+
DC - DC

DC5 DC6

POPCA3 Desy Hamburg 20 to 23rd may 2012

 RST at work with POPS: Vout Control
Lfilt
Iind Im ag III order output filter

Icdmp
Icf
C dm p
Cf

Vout
Vin

R dm p

Decide desired dynamics

2 2 150 c 2 d Ts1m s 0.1431 z -1 + 0.1043 z -2

s2 2 s 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 y B T

Pzeros z - 0.8053
r A S B R HF zero
Solve Diophantine Equation
responsible for
A( z 1 ) S ( z 1 ) B( z 1 ) R( z 1 ) Pdes ( z 1 ) Pzeros ( z 1 ) oscillations

Calculate T to eliminate all dynamics

1 Pdes ( z 1 )
T (z )
B (1)
POPCA3 Desy Hamburg 20 to 23rd may 2012
 RST at work with POPS: Vout Control

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

POPCA3 Desy Hamburg 20 to 23rd may 2012

 RST at work with POPS: Vout Control

In reality the response is a bit less nice but still very good.

Performance to date (identified with initial step

response):
Ref following ------
Ref following: 130Hz Dist rejection ------
Disturbance rejection: 110Hz

POPCA3 Desy Hamburg 20 to 23rd may 2012

 RST at work with POPS: Imag Control
PS magnets deeply saturate:
Magnet transfer function for Imag:

I mag 1 Lmag 0.96H

Vmag s Lmag Rmag 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

POPCA3 Desy Hamburg 20 to 23rd may 2012

 RST at work with POPS: Imag Control

26Gev with Sat compensation

POPCA3 Desy Hamburg 20 to 23rd may 2012

 RST at work with POPS: Bfield Control
Magnet transfer function for Bfield: Tsampl=3ms.
Ref following: 48Hz
Lmag 0.96H Disturbance rejection: 27Hz
Bmag 1
Rmag 0.32
Vmag Rmag
s K mag K mag K mag 2.5
Lmag

Error<0.4Gauss

Error<1Gauss

POPCA3 Desy Hamburg 20 to 23rd may 2012

 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 !

POPCA3 Desy Hamburg 20 to 23rd may 2012

 Thanks for the attention

Questions?

POPCA3 Desy Hamburg 20 to 23rd may 2012

Towards more complex systems

(test it before !!!)

POPCA3 Desy Hamburg 20 to 23rd may 2012

 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)

POPCA3 Desy Hamburg 20 to 23rd may 2012

 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)

POPCA3 Desy Hamburg 20 to 23rd may 2012