Homework Assignment

Controller development for a coupled train

Problem
• Controlling the position of the wagons by the
locomotive
• Wagons are coupled to the train by spring/damper
element

System Identification and Optimal Controls

09.01.2019 Prof. Dr.-Ing. Dirk Nissing 1
Homework Assignment

𝑚
Initial condition: 𝑦1 = 𝑦2 = 𝑦3 = 𝑦4 = −1 𝑚 , 𝑦1 = 𝑦2 = 𝑦3 = 𝑦4 = 0 𝑠
𝑚
Target: 𝑦1,𝑇 = 𝑦2,𝑇 = 𝑦3,𝑇 = 𝑦4,𝑇 = 0 𝑚 , 𝑦1,𝑇 = 𝑦2,𝑇 = 𝑦3,𝑇 = 𝑦4,𝑇 = 0 𝑠

Maximum absolute force: 𝑢1,𝑚𝑎𝑥 = 𝑢2,𝑚𝑎𝑥 = 5 𝑁

Maximum overshoot: 𝑦4,𝑚𝑎𝑥 = 0.05 [𝑚]
𝑁 𝑁𝑠
Parameters: 𝑚 = 1 𝑘𝑔 , 𝑘 = 36 𝑚
, 𝑏 = 0.6 𝑚

System Identification and Optimal Controls

09.01.2019 Prof. Dr.-Ing. Dirk Nissing 2
Homework Assignment

Solution
• Development of a state space controller
• Finding the feedback parameters through the
LQR method

System Identification and Optimal Controls

09.01.2019 Prof. Dr.-Ing. Dirk Nissing 3
Homework Assignment

Tasks
1. Model of the plant
2. State-space model
3. Development of LQR
4. Testing of LQR in simulation

System Identification and Optimal Controls

09.01.2019 Prof. Dr.-Ing. Dirk Nissing 4
Homework Assignment

1. Model of the plant

• Free body diagram
• Application of e.g. Newtons second law

2. State-space model
- Make sure: what is the input?
- Definition of state variable vector 𝒙
- Check eigenvalues of the plant / What can you
say about the stability of the plant?

System Identification and Optimal Controls

09.01.2019 Prof. Dr.-Ing. Dirk Nissing 5
Homework Assignment
3. Development of LQR
• Find the optimal feedback vector 𝑲 using the control law 𝑢 = −𝑲𝒙
• Matlab-command lqr can be used, solving the algebraic Riccati
equation
4. Testing of LQR in simulation
• Use the given model simulating the plant
• Implement the LQR
• Test and analyze the controller using initial conditions of the plant
• Check if the applied forces and the max. allowed overshoot are within
given boundaries
• Update and change the balance matrices if required and repeat previous
steps
• Check the eigenvalues of the closed-loop system (shall be stable)

System Identification and Optimal Controls

09.01.2019 Prof. Dr.-Ing. Dirk Nissing 6
Homework Assignment

Deliverables
- System equations and state-space model
- Matlab-script showing LQR development
- Simulink-model showing LQR implementation and
testing
- Brief documentation (computer written) showing the
main approach, results and analysis; Cover sheet
contains Name and student ID
- Cover sheet contains Name and student ID
- Deadline: 28th Feb 2019, Upload to Moodle

System Identification and Optimal Controls

09.01.2019 Prof. Dr.-Ing. Dirk Nissing 7