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To understand the principles and qualities of the digital controller it is
necessary to test this at concrete examples.
To show the whole variety of the possibilities and problems, as many
applications as possible have to be shown from the different disciplines. There
is, however, the danger that one loses the summary of the essential, namely the
digital controller. For this reason we will model only one example from the
beginning of this eBook over the analogous and digital controller until the end of
the eBook. On this MECHATRONIC example positioncontrol of DCmotor we can show
all the main features of the analog and digital control theory.
The eBook is so divided like a realistic development which structurally leads to
the final result step by step.
At first gradual Scilab is explained and the linear model of the plantmodel.
After that, an analog and digital PID controller is developed for this linear
plant.

After that, the plant will
become some nonlinearities, quantisation and so on to see the robustness of
the system. 
Everything what is here introduced can be
summarized
under the concept mechatronics:
 Model creation from different disciplines
(electrical engineering, mechanical engineering
and computer science)
 Simulation of the complete system (analogplant
and digitalcontroller)
 Analog and digitalcontrol engineering (controllerstructure
and parameter)
 Implementing in an EmbeddedSystem (Cprogram)
 and this all with the Free software
SCILAB
and XCOS
the OpenSource for MATLAB and SIMULINK


You can free of charge download
the current version of SCILAB on the page
www.scilab.org. You must
download the binary version for the corresponding operating system because
you can install these. And do not forget to load the Help files.
To the end some further
controller strategy will be shown.

Content 
Introduction to
SCILAB
Introduction
What is it?
Matlab and Simulink
What can Scilab?
The SCILAB window
Variables
Vectors and matrices
Creating and plotting signals
Arithmetic with signals
Series connection of signals
Cut out signals
Examining signals
Graphics
Animation
Scripts
Functions
Demos
Modelling
Introduction
Rotating and linear movement
Modelling
Model of DCmotor
What does signify a model?
The electrical coil
Mass, spring and damper
Motor torque
Feedback to the electrical part
What is a transfer function?
Set up the differential equation
Transfer function
Amplification and time constants
Parameters
Gearbox
Model in SCILAB
This chapter
Transfer function in SCILAB
Step response
Impulse response
Subplot
What is BodeDiagram?
Disturbance transfer function
Different control
plants
Control plants
Pplant
Iplant
PT1plant
PT2plant
Oscillation and reverse point
PTnplants and dead time
ITnplants
Dynamic in enumerator
Poles and zeros
State space
State space in Scilab
Series and parallel connection
Identification
Introduction to XCOS
Introduction
Why Xcos?
Start Xcos
Drag and drop the blocks
Connect blocks
Start Simulation
Change blocks
TP1 block
Sinus and noise
Supperblock
Integral in series
Dead time
Limit
System in Xcos
State space
Xcos Demo
Simulation model
Simulation
Differential equation in integral equation
Integral blocks
Feedback
Force balance
Closed loop
Simulate mechanical part
Electrical part
Simulate electrical part
Electrical and mechanical part together
Simulate electrical and mechanical part together
Controller
Analog control
Open loop
Disturbance
Pcontroller
Steady state error
Icontroller
PIcontroller
PIDcontroller
PIDT1controller
Analog control =>
parameter
How to adjust the parameter of the PIDcontroller?
Parameters from the step response
Adjustment rules
PIDcontroller structure
Results
Leadfilter
Ramp stimulus
Analog control =>
stability
What does it mean stability?
Stability in control theory
Stability in BodeDiagram
Stability in BodeDiagram
Controller design in BodeDiagram
Script controller design
Adjust Kp
Adjust Kd
Adjust Ki
Requirements
Implementation
Discrete model
Why discrete model of the plant?
Sampling
A/Dconverter, sampling and clock
Hardware implementation
FFT and antialiasing
Discrete plant
Discrete plant
ztransfer function
ztransfer function in SCICOS
Poles and zeros
Discrete controller
Discrete controller
Introduction
Sample and Hold
Pcontroller
Common control clock
Icontroller
PIcontroller
Dcontroller
PIDcontroller
Parallel und recursive architecture
Parallel und recursive architecture
Recursive architecture implementation
Controller higher order
Quasicontinuous discrete controller
Quasicontinuous discrete controller
Quasicontinuous discrete controller
Limit
Ipart does not stop tp calculate
AntiWindUp
DT1 and Dpart
PIcontroller
A/Dconverter
Integercalculation
Implementation
Controller design with poles and zeros adjustment
Controller design with poles and zeros adjustment
Preferred position of poles
Tools
Robustness and
further controller
Robustness and further controller
Sensor noise
Temperature dependence
Nonlinear component
Nonlinear component
Spring defect
Friction
Cascade controller
Three controller in series
Simulation
Current controller
Speed controller
Position controller
Speed calculation
Disturbance adaption
Adaptive control
Two plants control
END




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