Root Locus Bode Plot

A rm
le
e
r
Arm

rc
ro er

ng
A
Fo
l
Er
l
+
- ntro
Real Axis Frequency

Co Arm

2007 The MathWorks, Inc.

Hydromechanical Systems in Simulink
Part 2: Control System Development
Steve Miller
Technical Marketing, Physical Modeling Tools
The MathWorks GmbH, Munich, Germany
Steve.Miller@mathworks.de
Goal for this Presentation

Show how to:

Create an efficient design by
modeling hydromechanical M
systems within the Simulink
environment
Root Locus Bode Plot

Design effective compensators

using both linear control theory
Real Axis Frequency
and intuitive methods

Optimize system performance

by applying optimization algorithms
to the controller and the plant

2
Agenda

Creating the plant model 5 min

Refining the plant model 10 min
Tuning parameters: Simulink Parameter Estimation

Defining the controller 15 min
Linear control theory: Simulink Control Design
Intuitive method: Simulink Response Optimization

3
 Wheel Loader Example

Model:

Problem: Model the hydraulic and

mechanical systems in the Simulink
environment
Solution: Use Simscape,
SimHydraulics, SimMechanics to
model the hydromechanical system
4
Agenda

Creating the plant model 5 min

Refining the plant model 10 min
Tuning parameters: Simulink Parameter Estimation

Defining the controller 15 min
Linear control theory: Simulink Control Design
Intuitive method: Simulink Response Optimization

5
 Estimating Parameters Using
Measured Data
Model:

A B
AreaA AreaB
A B
AreaV

T P T
Problem: Simulation data does not
match measured data because the
parameters are incorrect AreaA AreaB AreaV

Solution: Use Simulink Parameter 0.0176

0.025 0.0106
0.02 200
175
Estimation to automatically tune
model parameters 6
Estimating Parameters Using
Measured Data

Steps to Estimating Parameters
1) Import measurement data and
select estimation data

AreaA AreaB AreaV

2) Identify parameters
and their ranges 0.025 0.02 175

3) Perform parameter estimation

4) Validate estimation

7
Estimating Parameters Using
Measured Data

Advantages of Simulink Parameter Estimation

1) Enables quick and easy comparison with measured data to

ensure simulation matches reality

2) Automatic tuning of parameters saves time

3) Optimization algorithms reveal parameter sensitivity and

help improve model parameterization

8
Agenda

Creating the plant model 5 min

Refining the plant model 10 min
Tuning parameters: Simulink Parameter Estimation

Defining the controller 15 min
Linear control theory: Simulink Control Design
Intuitive method: Simulink Response Optimization

9
Possibilities for Control Design

Linearized model
Nonlinear model
Linearize system using Simulink Specify response
Control Design characteristics
Perform linear control design Automatic tuning using
with Control System Toolbox and Simulink Response
Simulink Response Optimization Optimization
Retest in nonlinear system r bArm
lle
+- ntro Arm
le r
bArm Co
l
+- ntro Arm
Co

Ax+Bu
Root Locus Bode Plot

Real Axis Frequency

10
System Analysis

Check if system is linear

bArm
Force Angle

Arm

For Lift Arm Angle 0-60 degrees, use linearized

system to design controller

11
 Control Design on Linearized Plants

Model: bArm
d
an

bArm

A rm
m

le
r

r
rc
om

Arm
ro

ng
A
lle
Fo
Er
C

+
- ntro
Co Arm

Ax+Bu
Root Locus Bode Plot

Problem: Design and test a controller Real Axis Frequency

for a nonlinear system using linear
methods to meet system specifications
Solution: Use Simulink Control Design,
Control System Toolbox to design, tune,
and test the controller
12
Control Design on Linearized Plants

Steps to Design Controller

r
rc ato
d
1) Identify control loops

an

F o c tu

A rm
le
e
m

ng
A

A
om
of interest lle
r

C
+ n tro
- Co

2) Identify operating point

3) Linearize model about this point Ax+Bu=0

4) Perform control design
Root Locus Bode Plot

5) Test controller in nonlinear system

Real Axis Frequency

13
Control Design on Linearized Plants

Advantages of Simulink Control Design

and Control System Toolbox

1) Enable easy application of linear control theory

Operating points from specification or simulation

Graphical design with interactive plots

2) Rapid evaluation of designs with interactive analysis plots

3) Automatic tuning of parameters through various methods (PID,

IMC, LQG) saves time

4) Optimize performance based on time, frequency, or root locus

constraints
14
Agenda

Creating the plant model 5 min

Refining the plant model 10 min
Tuning parameters: Simulink Parameter Estimation

Defining the controller 15 min
Linear control theory: Simulink Control Design
Intuitive method: Simulink Response Optimization

15
 Control Design on Nonlinear Plants

Model:
bArm

(s+z ) Arm
K s 1
Command
+-

Problem: Tune a controller and

parameters in a nonlinear system
to meet system requirements
bArm K z1
Solution: Use Simulink Response
Optimization to tune the controller and 1437
1621
1000
1212 11315
12009
12332
10000
11047 0.5145
0.5212
0.5767
0.5000
model parameters automatically
16
Control Design on Nonlinear Plants

Steps to Optimizing Response

1) Identify parameters to be tuned (s+z1)
and their ranges K s bArm

2) Specify desired response

3) Perform response optimization

17
Control Design on Nonlinear Plants

Advantages of Simulink Response Optimization

1) Graphical interface makes it easy to map specification to tests

2) Automatic tuning of parameters saves time

3) Simulating plant and controller in one tool allows engineers to

understand and optimize performance of the entire system

18
Summary

Model hydro-mechanical
systems using Simscape, M
SimHydraulics and SimMechanics
Ax+Bu

Design compensators using Root Locus Bode Plot
Simulink Control Design
and Control System Toolbox
Real Axis Frequency

Optimize system performance

using Simulink Response
Optimization

19
 Thank you for your attention!

2007 The MathWorks, Inc.

Steve Miller
Technical Marketing, Physical Modeling Tools
The MathWorks GmbH, Munich, Germany
Steve.Miller@mathworks.de