Abstract
In this report, we discussed the weight control of hopper by using a microcomputer. As for the control algorithm, we used the “LQ Control” method.
In the previous report, we applied “Finite Time Settling Control” to the hopper system, but this time, a conspicious jump in the manipulated variable occurred for the step reference input change. Therefore we investigated the application of so-called “LQ Control” method to avoid the jump.
To determine a proper weighting matrices in the quadratic performance function is one of the important problems in the LQ control method.
In view of the situation that the response waves of the system for the step reference input and step disturbance input are influenced by a pole assignment of closed loop system, we investigated the effect of value of the weighting matrices on the pole assignment. Furthermore the characteristics of the process handling granules and powder have been influenced by the environment conditions such as temparature and humidity, then we studied the closed loop behavior under the parameter mismaching between plant and observer model occurring due to the environment conditions.
The following results became clear.
1) If we use “LQ Control” method as for the control algorithms, the response waves show a good behaviour with an increase in the value of W1x, and with a decrease in the value of W3x, but when W1x is made too larger, the response wave results in an alternating behaviour and become oscillatory.
2) Relation the weighting matrices Wx between pole assignment is shown obviously, and it is possible to calculate a value of Wx based on the arbitary desired pole assignment.
3) We indicated the condition that does not remain a steady state error for the disturbance input and modeling error, and then we could show the practical constructure of processes.
