Digital
Controller Design and Analysis under Windows PURPOSE With a good knowledge of an input/output model of a plant (identified for example with the WinPIM software) one can compute the "optimal" values of the parameters for a given controller or to design a new controller. WinREG allows to design and optimize the controllers used in tracking and regulation loops. WinREG offers several methods to compute either the optimal parameters for a classical P.I.D. controller, or to design a more performing digital controller (RST controller). The design can be done in order to ensure a good robustness of the controller with respect to modifications of the process dynamical characteristics, using the new C.P.P.S.S. methodology (Combined Poles Placement/Sensitivity Shaping). Furthermore, the closed loop behaviour may be simulated using a plant model. The computed controller is stored in a file , in order to test its behaviour upon the real process using a complementary module for data acquisition and digital control for Windows. WinREG also generates the C code of the controller. GENERAL DESCRIPTION Although this software uses computational algorithms that were already included in a corresponding DOS software, named PC-REG, WinREG has been developped for Windows. It takes advantage of the ergonomics of Windows' standard, which makes it easy to use, manages printers, colors, ... WinREG allows to include numerical and graphical results in a report, thanks to Windows clipboard. Contextual help using hypertext management is of course also available. DESIGN OPTIONS The following design methods are provided : - Tracking and regulation with independent objectives, - Minimum variance tracking and regulation, - Tracking and regulation with weighted control input, - Generalized minimum variance tracking and regulation - Poles placement - Continuous and digital P.I.D. (2 structures) The user has to indicate the plant model, the desired performances, and eventually some fixed parts to be included in the controller (for example an integral action to zero out the steady-state error). After a compatibility test between the plant model and the design method, WinREG gives the structure and the optimal values of the parameters of this controller, which is also available in C code. Simulation of the closed loop behaviour allows to verify the controller performances for a given reference signal : step, sinusoïd, square wave,... It is then possible to quantify the disturbances rejection, or the effect of noisy measurements on the behaviour of the closed loop. The controller?s robustness is analysed in the frequency domain using the Nyquist plot and the robustness margins: delay margin, modulus margin, gain and phase margins. WinREG also displays the sensitivity functions for assessing robustness and for quantifying the effect of disturbances for various frequency domains. Templates for (?good?) sensitivity functions profiles are provided. The informations obtained through the robustness analysis are used via C.P.P.S.S. methodology to improve if necessary the controller resulting from a first design. WinREG belongs to WinPIM+ software package, which also contains a software for system identification, named WinPIM. Furthermore, this package may be completed by a module for data acquisition and digital control for Windows, which allows to collect input/output data through an Input/Output board. DISTRIBUTION KIT - floppy disks containing program, help file and example data files, - user's manual (with theory, operating instructions and examples). MINIMAL HARDWARE CONFIGURATION PC and compatibles Memory : minimum 1 Mo (2 Mo recommended) 1 hard disk + 1 floppy disk driver Windows version 3.1 or more EGA or VGA graphic screen Mouse (highly recommended) (Opt.) printer (Opt.) mathematic coprocessor |
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