| WinREG
Under Windows |
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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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