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AA 447: Control in Aerospace Systems |
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Instructor |
Office Hours T 1:30-2:30, W 1-2:30 |
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Teaching
Assistants Homework Section: Jaime Petranek (full) |
W 8:30-9:20, Gug. 317 Gug. 409 |
Course Description
The main topics of the course are modeling, specification, interconnection, and robustness of feedback systems. On completion of the course, students will be able to construct (control-oriented) models for typical systems found in engineering and the sciences, specify and describe performance for feedback systems, and analyze open loop and feedback behavior of such systems. Specifically:
- Describe what feedback control is to another scientist: what are the basic components of a feedback control system, what is a block diagram, what are some tools for analysis and design of control systems.
- Derive appropriate linear equations from the nonlinear equations for simple mechanical systems.
- Express
a linear model in state space and transfer function forms. Manipulate block diagram system
representations.
- Analyze the stability, controllability and observability properties of a linear model from both state space and transfer function forms.
- Design proportional, derivative, and integral controllers for single loop systems using Bode, Nyquist, and pole placement methods.
- Evaluate closed loop system performance and robustness.
- Use MATLAB and SIMULINK to aid in analysis, design and evaluation of open and closed loop systems.
Prerequisites: Dynamics -- ME 230, Matrix algebra -- MATH
308; Suggested: Introduction to differential equations -- MATH 307
Textbook
and references
The required reading sources for the course are
- R.C. Dorf and R. H. Bishop, Modern Control Systems, 10th Ed., Prentice-Hall, 2001.
- Index to Dorf/Bishop
The 9th version of the text can also be used but will have some discrepancies. A copy of the 10th edition is in the AA office for referral.
Supplemental reading sources (first two on reserve in the Engineering library)
- G. F. Franklin, J. D. Powell, and A. Emami-Naeni, Feedback Control of Dynamic Systems, Addison-Wesley, 1994.
- B. Friedland, Control System Design: An Introduction to State-Space Methods, McGraw-Hill, 1986.
- N. E. Leonard and W. S. Levine, Using Matlab to Analyze and Design Control Systems, Benjamin/Cummings, 1992.
- Matlab tutorial
- Simulink tutorial
- Simulink graphical interface tutorial (LTI Viewer)
Class discussion list
A web site through the university web tools has been set up for class discussion. The discussion list will be moderated by the course Tas.
http://catalyst.washington.edu/webtools/epost/register.cgi?owner=morgansn&id=12871
Matlab and Mathematica
Both Matlab 6.5 and 7 are installed on the instructional lab computers, as well as the ULTRA and LUNA Windows Terminal Servers. You can use Microsoft RDP (included with XP and limited to 8-bit color) and Citrix ICA client (downloadable at the following URL and much more fully featured).
http://www.citrix.com/site/SS/downloads/downloads.asp?dID=2755
The Citrix client connection setup is described in the Account Setup document. On checking the Citrix website, the client is now called the "Advanced Gateway Client". This type of connection is only appropriate for high-speed Internet connections.
Mathematica 5 is also installed in the lab.
Grading
The final grade will be based on homework sets, a project, a midterm exam and a final exam.
- Homework:
30%
Homework sets will be handed out weekly on Thursdays and are due the following Thursday at 9:30am at the beginning of class. Late homework will not be accepted or graded without prior permission from the instructor. One late assignment will be allowed per quarter.
- Design
Project: 10%
The project will be handed out on Nov. 19 and is due the last day of class by 9:30am.
- Quizzes:
10%
Four short quizzes will be given during the quarter. These quizzes are closed book, short written answers primary to test conceptual understanding. Dates for quizzes are marked on the course outline with a star and take place during the first 15 minutes of class.
- Midterm
exam: 20%
A midterm exam will be given at the midpoint of the quarter. The midterm exam will be open book.
- Final
exam: 30%
The final exam will take place Wednesday December 14, 10:30am-12:20pm. It will be an open book exam.
Homework policy
Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor. All solutions that are handed in must reflect your understanding of the subject matter at the time of writing. Any required computer work, plots or data must be generated by you and must not be copies of a group effort. Each homework problem will have equal value and will be formatted to require roughly the same amount of work.
Design project
This project will be based on the
problem designing a controller for and simulating response of a mechanical
system (specifics TBA) to meet a set of performance criteria. The project will
be done in groups of 1-3 students. In preparation for this project a similar
problem will be progressively addressed in homework during the quarter.
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Date |
Topics |
Readings |
Assignments |
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Sep 29 |
Introduction to control theory and feedback Types of models |
Ch. 1 2.1-2.2 |
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Oct 4 |
Linearization Laplace transforms and transfer functions |
2.3, handout 2.4-2.5 |
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Oct 6 |
Laplace transforms Block diagrams and block diagram algebra |
2.6 |
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Oct 11* |
Signal flow graphs States and state space equations |
2.7 3.1-3.2 |
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Oct 13 |
State transition matrix Signal flow graphs and block diagrams |
3.3, 3.7-3.8 3.4-3.5 |
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Oct 18 |
Converting between transfer functions and state space Controllability and observability |
3.6 11.1-11.3, Vagners-lecture |
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Oct 20 |
State space feedback and pole placement Control system characteristics |
11.4 4.1-4.6 |
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Oct 25* |
Test signals and second order system performance Extra poles and zeros; steady state error |
5.1-5.3 5.4-5.8 |
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Oct 27 |
Performance criteria Stability from the state transition matrix |
5.9 Handout |
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Nov 1 |
MIDTERM (HW
1-3) |
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Sample solutions (updated), |
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Nov 3 |
Routh Hurwitz |
6.1-6.4, controllability notes |
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Nov 8 |
Concept of Root Locus Root Locus procedure |
7.1-7.2 7.3-7.4 |
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Nov 10 |
Root Locus procedure Parameter design with Root Locus |
7.5-7.6, notes on root locus, |
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Nov 15* |
PID controllers |
7.7 |
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Nov 17 |
Bode plots |
8.1-8.3 |
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Nov 22 |
Performance specifications in frequency domain Stability from Bode plots |
8.5 |
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Nov 24 |
THANKSGIVING – NO CLASS |
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Nov 29 |
Cascade compensation Phase lead compensation |
10.1-10.3 10.4-10.5 |
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Dec 1* |
Phase lag compensation Lead-Lag compensation |
10.6-10.8 |
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Dec 6 |
Nyquist stability |
9.1-9.3 |
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Dec 8 |
Review for final |
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Dec 14 |
FINAL EXAMINATION (10:30am-12:20am) |
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solutions to last year’s exam (FINAL) |