CHEN 4601 Lecture Notes - Lecture 37: Harvard Step Test, Kuge, Opata Language
12 Nov 2015
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Document Summary
Controller tuning --> selection of adjustable parameters (after the selection of controller type) 3 types of approaches to this type of problem: trial and error. Ii) semi-emperical --> some fundamental bais, but mainly based on success in practice. Iii) theoretically based --> usually connected to meeting some design criteria. Usually tradeoffs exist (e. g. between robustnesss and performance) The more aggressive performance you expect, the less you lose your ability to handle changes also tradeoff btwn performance and manipulated variable performance. The designer has to balance subjectively conflicting objectives. Focus on ii: ziegler-nichols or continuous cycling method based on calculation of kc in p controller, which leads the system closed-loop system on the verge of instability (i. e. induces sustained oscillation) -> ultimate gain(kcu) /ultimate period (pu) (what is the gain that brings system on verge of instability and what period does that)? called online tuning b/c do it to system that"s already working nicely to examine behavior.
