18 1388

Archive of SID

DC PWM-PIM

1
*1

: 1388
DC : 1388
. .
:
.

. ) PWM
(
. ) (PEA. DC

.
PWM PEA .

) (PIM
. DC
.
PWM PIM
PWM
Tustin .

2 1
-1


].[1
.


3 4 5

.
.

2
Digital redesign * r.dargahi@semnaniau.ac.ir :
3
Continuous-Time
4 .1
Local
5
Global

www.SID.ir
 40
Archive of SID
1
) (MIMO ] .[4 . PAM
PIM ) (
.
.
].[4 PAM
7
)(PITF .
. ) PWM2 (
PITF
PITF . PWM
PWM .
. PIM
DC DC
PITF PITF PITF ....
.
] [5 PIM .
. ] [6 PWM
Roll-Angle
VTOL-UAV .
PIM 3
. ] [7 .
PIM 8
4
PWM
.
PIM PWM PAM
5
. ) [2] (PEA.
PIM ] [8 ][9
PIM .
] [10 ] [11 ] [12 (PIM) 6 ] [3
PEA .
] [13 PWM .
] [14 PWM PEA
1
Pulse- Amplitude -Modulation
2
Pulse- Width -Modulation
3
Large Sampling Priod
4
Discrete_Time
7 5
Plant Input Transfer Function Principle of Equivalent Area
8 6
Current Plant Input Mapping

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 DC PWM- PIM 41
Archive of SID
. . ] [15 PIM
: PWM-PEA ] [14

. PWM
PEA
On-Off
.

:1 PAM PWM 1
DC PIM
PEA

PAM PIM
PEA
PWM .
-
PWM
.

PEA PEA
.

PWM
PEA .
. 3
PEA PWM
PIM


PAM

PEA
DC .
.2 :

( k 1)T
kT
) u (t )dt u ( kT )(1
DC
u T u(t )
PAM PWM .
) (kT .

-2

] [16] [2
:2 PEA
PWM
:
] [10] [4 PAM
kT t (k 1)T u uk u (t ) t kT

1
Position

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 42
Archive of SID
PEA
. PAM .
) u(t ) (1 :
( k 1)T
kT
) u ( kT
udt
( k 1)T
kT
) Tu (kT
udt
) ( u
) ) ( (kT :
:3 u sign u (kT ).u p
) T .u (kT
(kT )
u

(kT )T
u ) u (kT .
:4
.
PIM PWM
: .
) (1 PWM PEA
) (2 CT-PITF .
) M c (s CT-PITF
:
) K c ( s ) Rc ( s -3 PIM
M c (s)
) 1 K c ( s ) Fc ( s ) Pc ( s

) Yc ( s ) M c ( s ) R( s 3 .

CT-PITF K c Fc Rc

- . K d Fd Rd

) M c (s ) Pc (s

- 4 .

. .

) (3 CT-PITF M c 3

.DT-PITF )(CT-PITF

) M c (s . . DT- M d 4
PITF . PIM

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 DC PWM- PIM 43
Archive of SID
DT-PITF . ) iq1 ( s i
M c ( s) K p
] [19 ) i 1 ( s i
. ) . M d (z
) u ( z ) v( z iq1 ( z eiT ) z b a
M d ( z) K
) ip1 ( z e iT
] [20 . K
) m( z ) w( z ) v( z M c ( s ) s 0
Rd ( z ) , K d ( z) , Fd ( z ) K
) w( z )u( z ) w( z M d ( z ) z 1
PIM .
. PIM

)( PIM
CT-PITF

].[4 .
)M d ( z ) (4
Rd ( z ) Fd ( z ) 1. K d ( z ) ,
) 1 Pd ( z ) M d ( z ) (SIM
b( z ) bm z m bm1 z m1 ... b1 z b0
Pd ( z )
a ( z ) an z n an1 z n1 ... a1 z a0
-
) (5
-1-4 .DT-PITF
) M d (z
PWM-PIM DC ) m( z ) a ( z
M d ( z)
. DCBuhler )d ( z
) (Gear DC Motor:1, 61, 046, 315, 05 ) m(z ) M d (z
1
)(Multi Turn: Vishay Spectrol: 534-1-1: 1k
2 3 4 4 .
) (PC . Diophantine
DAQ
/ ].[18
. DAQ ) a( z )u ( z ) b( z )v( z ) d ( z
) a( z ) b( z
1
Rotary Potentiometer
2
Power Supply ) d ( z
3
Data Acquisition board
4
Motor Driver

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 44
Archive of SID
Advantech PCI-1710HG
.

:6 DC

DC
.


:5
:1
Type Buhler Gear DC Motor:1, 61, 046, 315, 05 PCI-1710HG

RA 9.65 Ohm 8 12

LA 0.2783 Henrys 16 single ended 12
KB 0.0265 mNm / A MATLAB
KT 0.0265 mNm / A
1

JT 8.27e 5 - .

N 299 - H-bridge
DC L298 .
b 8.27e 5 Kg m 2 sec

DC
6 50 4
)(
L298 .


) (s NKT

VIN ( s ) LA J T s ( LAb RA J T ) s ( RAb N KT K B ) s
3 2 2 PWM
] .[21 .
DC 6 .
) (1 --
DC
:
Vin
) ( s 11485.1703 .
Pc ( s )
) VIN ( s )s (s+1170) (s+170.4

1
Real Time

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 DC PWM- PIM 45
Archive of SID
Tustin PIM . 9 8 7 1
-5
10

PIM PWM-PIM Tustin
.
0 t 5 .

Tustin
DC :

s 1 /
- 0 1 K c s K c
s 1 /
10
.

K c


- .
. 1 /

1/ . -

5 :

) (1

n (2) .
.
(3) .

(4) .
-
(5) .
.
.



)42.8571( s 5
. PIM K c (s)
)( s 7.143
- .
.
] [3
Tustin PIM 2
-6
) (T=0/001

Tustin . PIM PAM
PEA PWM .

DC

1
Lead Controller
2
Experimental Result

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 46
Archive of SID

:11 T=0.1 :7 T=0.1

:8 T=0.2
:12 T=0.2

:9 T=0.5
:13 T=0.5

:10 T=1
:14 T=1

PWM/PIM PIM 4
PWM-PIM
. . PWM/PIM
1
PIM
2
PWM . 9 8 7
10
1
Step Response PIM
2
step size

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 DC PWM- PIM 47
Archive of SID
MATLAB 0/001
PWM . ) u (kT 35/1132
u p =40
. 13 12 11 14
u p .
.
.
Tustin .
u p
. u p
.

PAM .
PWM . .


PWM -7

PWM
.
PEA PIM

DC PEA .
.
PAM PWM PIM

1. Kuo. B. C., (1980), Digital Control System, New York: Holt, Rinehart and Winston.
2. Andeen, R. E., (1960), The Principle of Equivalent Areas, Trans, AIEE 79, 332-336.
3. Markazi, A. H. D., Hori,N., (1992), A New Method with Guaranteed Stability for Discretization of
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Continuous-Time Reference Model, Ph.D. Thesis, McGill University, Montreal.
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Franklin Institute 344, 553564.
6. Kashimura, T., Hori, N., (2005), PIM Digital Redesign and Experiments of a Roll-Angle
Controller for a VTOL-UAV, Proceedings of the International Conference on Information and
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Regulator SICE, annual conference, Sapporo, Japan, August 4-6.
8. Rabbath, C. A., Hori, N., (2003), Reduced-Order PIM Methods for Digital Redesign IEE Proc.-
Control Theory Appl., Vol. 150, No. 4.

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Archive of SID
9. Ro, K. K., Hori, N., (2002), Convergence and Order Reduction of Controllers in PIM Based
Digital Redesign,. Proceedings of the 41st SICE Annual Conference .SICE.
10. Bernelli, F., Zazzera, F and Mantegazza. P., (1992), Pulse-Width Equivalent to Pulse-Amplitude
Discrete Control of Linear System, AIAA J. of GCD, 15, 461-467.
11. Sakamoto, T., Hori, N., Ueno, T., (2003), Closed-Loop Control Using a Low-Frequency PWM
Signal.Proc. IEEE Miedzyzdroje, Poland, 627-632.
12. Delfeld, F.R., and Murphy, G.J., (1961), Analysis of Pulse-Width-Modulated Control System,
IRE Transactlons on Automatic Control, vol, AC-6, No.3, pp. 283-292.
13. Lh, A., Gelig and Churilov, A, N., (1998), Stability and Oscillations of Nonlinear Pulse-
Modulated Systems, Birkhauser,Boston.
14. Suzuki, T., Ueno, T., Hori, N., (2005), Experimental Verification of PEA-Based PWM Control
Using on-off Type Air-Jet Thrusters Proceedings of International Conference on Information
and Automation, December 15-18.
15. Suzuki, T., Hori, N., Rabbath, C. A., (2008), Digital PWM-PIM Control of A Rotational
Mechanism using Airjet Thrusters, Proceeding of the Tenth IASTED International Conference
Control and Applications, May 26-28.
16. Sakamoto, T., Hori, N., (2002), New PWM schemes Based on the Principle of Equivalent
Areas, IEEE International Symposium on Industrial Electronics, L'Aquila, Italy, pp. 505-510.
17. Mori, T., Nikiforuk, P, N., Gupta, M, M.,. Hori, N., (1989), A Class of Discrete Time Models for
a Continuous Time System, IEE Proc. Part-D, Vol. 136-2, pp.79-83.
18. Goodwin, G. C., Middleton, R. H., (1990), Digital Control and Estimation- A Unified Approach,
Prentice Hall, Englewood Cliffs, NJ.
19. Rabbath, C. A., (1999), A Characterization and Performance Evaluation of Digitally Redesigned
Control System, Ph.D. Thesis, McGill University, Montreal.
20. Hori, N., Markazi, A. H. D.,Nikiforuk, P. N., K. Kanai, K., and Ieko, T., (1993), Digital Model-
Reference Flight Control of Aircraft with Unstable Sampling Zeros, Proc. 12thWorld Congress
of International Federation of Automatic Control(IFAC), pp. 297-302, Sydney, Australia.
21. Rush, M, S., Grama, L., (2008), The Design of a DC Motor Speed Controller, Fascicle of
Management and Technological Engineering,Vol, VII (XVII).

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