文件列表:

license.txt (1341, 2009-05-29)
lsdptool2.03 (0, 2009-05-29)
lsdptool2.03\cmdhndlr.m (26081, 2002-01-09)
lsdptool2.03\contents.m (2128, 2003-11-13)
lsdptool2.03\cpfsyn.m (3003, 2003-03-11)
lsdptool2.03\demos (0, 2009-04-09)
lsdptool2.03\demos\aircraft.mat (2824, 2000-03-25)
lsdptool2.03\demos\bench.mat (2200, 2000-03-25)
lsdptool2.03\demos\maglev.mat (2208, 2001-12-25)
lsdptool2.03\demos\maglev.mdl (21100, 2001-12-26)
lsdptool2.03\demos\maglevW.mat (1048, 2001-12-25)
lsdptool2.03\demos\mag_mod.m (1304, 2002-07-13)
lsdptool2.03\demos\pendulum.mat (2568, 2000-07-11)
lsdptool2.03\demos\pendulum.mdl (44393, 2002-12-20)
lsdptool2.03\demos\pend_mod.m (990, 2002-03-27)
lsdptool2.03\desc2ss.m (1566, 2000-03-29)
lsdptool2.03\lsdp.m (6763, 2003-06-21)
lsdptool2.03\lsdpcont.m (545, 2001-10-04)
lsdptool2.03\lsdphelp.m (18265, 2001-10-05)
lsdptool2.03\moveln.m (551, 2001-10-04)
lsdptool2.03\movepz.m (1110, 2001-10-04)
lsdptool2.03\private (0, 2009-04-09)
lsdptool2.03\private\calcfreqW.m (3787, 2001-10-04)
lsdptool2.03\shape.m (1772, 2003-11-13)
lsdptool2.03\uilsdp.m (17480, 2003-06-21)
lsdptool2.03\uilsdpaxes.m (7985, 2001-09-28)
lsdptool2.03\uilsdpcont.m (2933, 2003-06-21)
lsdptool2.03\uiss.m (13685, 2006-05-11)
lsdptool2.03\w2wdata.m (4026, 2001-10-04)

% LSDPTOOL - McFarlane & Glovers's Loop Shaping Design Procedure Toolbox: % A Graphical User Interface % % Version 2.03 - 12 November, 2003 % Copyright (c) JF Whidborne % % The toolbox requires Matlab Version 5 or higher, the Control Toolbox and % the Robust Control Toolbox % % For news, updates etc., see % http://www.eee.kcl.ac.uk/mecheng/jfw/lsdptool.html % % OVERVIEW % ======== % % LSDPTOOL provides a graphical user interface for performing robust % control system design using McFarlane & Glovers''s Loop Shaping % Design Procedure (LSDP). % % The procedure, based on Skogestad & Postlethwaite (1996), is as follows: % % 1) Design pre- and post-plant weighting functions, W1 and W2, such % that the shaped plant, given by Gs = W2*G*W1 has a ''good'' shape. % % ------ ----- ------ % ---| W1 |-----| G |-----| W2 |---> % ------ ----- ------ % % A good shape would normally be high gain at low frequencies, low gain % at high frequencies, roll-off rates of approximately 20 dB/decade at % the desired bandwidth(s), with higher rates at high frequencies. % The singular values plots should also be quite close to each other at % the desired bandwidth(s). The post-plant weighting function W2 is % usually chosen as a constant, reflecting the relative importance of % the outputs to be controlled and the other measurements being fed back % to the controller. The pre-plant weighting function W1 contains the % dynamic shaping. Integral action, for low frequency performance; % phase-advance for reducing the roll-off rates at crossover; and % phase-lag to increase the roll-off rates at high frequencies should % all be placed in W1 if desired. The weights should be chosen so % that no unstable hidden modes are created in Gs. % % 2) Synthesize the controller Ks that robustly stabilizes the shaped % plant Gs = W2 G W1. % % ------ ----- ------ % ---| W1 |-----| G |-----| W2 |--- % | ------ ----- ------ | % | | % | ------ | % --------------| Ks |<------------ % ------ % % Calculate the maximum permissible uncertainty gamma. If this is % too large (gamma>5) then go back to step (2) and modify the % weights. When gamma<5, the design is usually successful. % % 3) Calculate the feedback controller Kopt for the plant by absorbing the % weighting functions W1 and W2 into Ks % % ---------- % R(s) -->| | ----- % | Kopt |------>| G |-----> Y(s) % --->| | ----- | % | ---------- | % | | % ------------------------------ % % For tracking problems, the reference signal is generally fed between % Ks and W1 as shown below, so that the closed loop transfer function % between the reference r and the plant output y becomes % -1 % Y(s) = - (I-G(s)K(s)) G(s) W1(s) Ks(0) W2(0) R(s) % % where the reference R(s) is connected through a gain % - Ks(0) W2(0) where % % Ks(0) W2(0) = lim Ks(s) W2(s) % s-->0 % to ensure unity steady state gain. This is because the references % do not directly excite the dynamics of Ks, which can result in % large amounts of overshoot (classical derivative kick). % The constant pre-filter ensures a steady state gain of unity % between R and Y, assuming integral action in W1 or G. % % ---------------- ------ ----- % R(s) --| -Ks(0) W2(0) |-->O---| W1 |-----| G |-----> Y(s) % ---------------- ^ ------ ----- | % | | % | ------ ------ | % ----| Ks |----| W2 |--- % ------ ------ % % 4) Analyze the design and if all the specifications are not met, % make further modifications to the weights. % % % TO GET STARTED % ============== % % To run the LSDPTOOL, type 'lsdp' in the command window, and everything % else is mouse driven. The other routines are all accessed from this % routine, and many have not been designed to run independently. % % The first window gives the option of entering a plant in (ss) form. % There are several plant modles already saved in the subdirectory % './demos'. % % After entering the plant and clicking on 'LSDP', the singular values of % the plant are displayed in the main LSDPtool window. The poles, zeros, % gains and number of integrators for each weighting function can be % defined through the graphical interface. % % % The following variables are placed in the workspace: % G nominal plant % Wdata weighting function data % W1 pre-plant weighting function % W2 post-plant weighting function % Gs the shaped plant W2*G*W1 % Kopt optimal controller i.e W1 and W2 absorbed into Ks % gamma minmised value of relevant H-infinity norm % Ks optimal controller for shaped plant % % A 'Help' button provides a comprehensive help system. % % The "look & feel" of the toolbox is strongly influenced by the LSLNR % Toolbox (Garcia & Heck, 1999). % % REFERENCES % ========== % % R.C. Garcia & B.S. Heck. 1999. % "Enhancing classical controls education via interactive GUI design." % IEEE Control Systems Magazine, 19(3):77--82. % % K. Glover & D.C. McFarlane. 1***9. % "Robust stabilization of normalized coprime factor plant % descriptions with H-infinity-bounded uncertainty." % IEEE Trans. Autom. Control, AC-34(8):821--830. % % D.C. McFarlane & K. Glover. 1990. % "Robust Controller Design Using Normalized Coprime Factor Plant % Descriptions." % Vol. 138 of Lect. Notes Control & Inf. Sci., Berlin:Springer-Verlag. % % D.C. McFarlane & K. Glover. 1992. % "A loop shaping design procedure using H-infinity synthesis." % IEEE Trans. Autom. Control, AC-37(6):759--769. % % S. Skogestad & I. Postlethwaite. 1996. % "Multivariable Feedback Control: Analysis and Design". % Chichester, U.K.:John Wiley. % % % G.P. Liu, J.B. Yang & J.F.Whidborne. 2002. % "Multiobjective Optimisation and Control" % Baldock, U.K.:Research Studies Press % % J.F. Whidborne, S.J. King, P. Pangalos, Y.H. Zweiri % "A graphical user interface for computer-aided robust control system design" % Engineering Design Conference 2002, pages 383-392, London, UK. % %

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