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Time Delay of Sampler + Hold
Time Delay of Sampler + Hold
446
446
-
-
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Prof. Neil A.
Prof. Neil A.
Duffie
Duffie
University of Wisconsin
University of Wisconsin
-
-
Madison
Madison
Neil A. Neil A. Duffie Duffie, 1996 , 1996
All rights reserved. All rights reserved.
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Digital Control
Digital Control
z.o.h z.o.h. .
T T
Process
Process
Sampler
Sampler
Hold
Hold
G
G
p p
(s
(s
)
)
Control
Control
+ +
- -
R(z)
R(z)
C(z)
C(z)
C(s)
C(s)
C(s)
C(s)
H(s)
H(s)
E(z)
E(z)
M(z)
M(z)
Computer
Computer
G
G
c c
(z)
(z)
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3
3
Process with Sampler and Hold
Process with Sampler and Hold
z.o.h. z.o.h.
T T
c*(t)
c*(t)
C(z)
C(z)
c(t)
c(t)
C(s)
C(s)
m*(t)
m*(t)
M(z)
M(z)
h(t)
h(t)
H(s)
H(s)
G
G
p p
(s)
(s)
Hold
Hold
Process
Process
Sampler
Sampler

The sampler and hold add dynamics that

The sampler and hold add dynamics that
are not present in continuous control.
are not present in continuous control.

The most important impact is the time

The most important impact is the time
delay added by the hold.
delay added by the hold.

Delay degrades relative stability.

Delay degrades relative stability.
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4
4
Time Delay of Sample and Hold
Time Delay of Sample and Hold
z.o.h. z.o.h.
T T
f*(t)
f*(t)
F(z)
F(z)
f(t)
f(t)
F(s)
F(s)
f(t)
f(t)
F(s)
F(s)
f(t)
f(t)
f(t)
f(t)
0 T 2T 3T 4T 0 T 2T 3T 4T
T
T
2
2
Delay:
Delay:
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5
5
Digital Control Design
Digital Control Design

If the effects of the sampler and hold are

If the effects of the sampler and hold are
significant at frequencies of interest then
significant at frequencies of interest then
design should be done in the discrete
design should be done in the discrete
domain (using z
domain (using z
-
-
transforms).
transforms).

If the effects of the sampler and hold are

If the effects of the sampler and hold are
insignificant (T is relatively small) at
insignificant (T is relatively small) at
frequencies of interest then designs can
frequencies of interest then designs can
be done in the discrete domain or in the
be done in the discrete domain or in the
continuous domain using approximation:
continuous domain using approximation:
-
-
PID approximation
PID approximation
-
-
equivalent poles and zeros
equivalent poles and zeros
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Equivalent Poles and Zeros
Equivalent Poles and Zeros
zero : s + 1
( )

1 e
T

z
1
1 e
T

pole:
1
s + 1
( )

1 e
T

1 e
T

z
1
int egration :
1
s

T
1 z
1
differentiation : s
1 z
1
T
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7
Equivalent Poles and Zeros Method
Equivalent Poles and Zeros Method
G
c
(s) = k
c
s + 1
( )
s
G
c
(z) = k
c
(1 e
T

z
1
)T
(1 e
T

)(1 z
1
)

Design a continuous controller for the

Design a continuous controller for the
process
process

Choose a sample period that is

Choose a sample period that is
sufficiently small
sufficiently small

Derive the equivalent digital controller

Derive the equivalent digital controller

Example:
Example: