Design Optimization to Meet Time-Domain and Frequency-Domain Requirements (GUI)

This example uses:

打开脚本

This example shows how to tune a controller to satisfy time-domain and frequency-domain design requirements using the响应优化器。

这example requires Simulink® Control Design™ software.

飞机纵向飞行控制模型

打开Simulin金宝appk模型。

sys ='sdoAircraft'; open_system(sys);

这aircraft model is based on the SimulinkSlexaircraftExample模型。该模型包括：

模拟飞机动力学的子系统（飞机动力学模型), wind gusts (德莱顿风阵模型), and pilot G-forces (Pilot G-force calculation).

A step change applied to the aircraft joystick at 1 second into the simulation that causes the aircraft to pitch upward.

Controller Design Problem

You tune the controller gains to meet the following time-domain and frequency-domain design requirements:

Angle-of-attackalpharesponse to a step change in the joystick has a rise time of less than 1 second, less than 1% overshoot, and settles to within 1% of steady state within less than 5 seconds

Pitch-rate control loop has good tracking below 1 rad/s and 20 dB noise rejection above 100 rad/s

Closed-loop response from joystick to pilot G-Force is below 0 dB above 5 rad/s.

这se requirements reduce the high frequency G-forces experienced by the pilot in response to joystick changes while still maintaining flight performance.

这model includes the following blocks (from Simulink® Design Optimization™ and Simulink Control Design Model Verification libraries):

Alpha Responsespecifies the alpha step response requirement.

Pitch Rate Loopspecifies the pitch-rate performance requirement.

这linearization inputs/outputs are already selected in the线性化标签。螺距速率循环从控制器的输入（控制器误差信号）开始，并在音高速率传感器的输出处结束。打开了攻击循环的信号，因此块仅计算螺距速率回复响应。线性系统是在模拟时间为0的。

这Bounds选项卡指定以下音高速率循环形状要求：

Greater than 20 dB over the range 0.01 rad/s to 0.1 rad/s

Greater than 0 dB over the range 0.1 rad/s to 1 rad/s

在100 rad/s至1000 rad/s的范围内小于-20 dB

Pilot G Responsespecifies the G-force requirement.

这linearization inputs/outputs are already selected in the线性化标签。线性系统是在模拟时间为0的。

这Boundstab specifies the G-force requirements of less than 0 dB over the range 5 rad/s 100 rad/s.

打开响应优化器

Open the响应优化器to configure and run design optimization problems interactively. ClickResponse Optimizationon the Block Parameters dialog ofAlpha Response,Pitch Rate Loop或者Pilot G Responseblock. Alternatively, typesdotool('sdoAircraft')。To show multiple requirement plots at the same time, use theView应用程序中的标签。

这app detects the requirements specified in the Model Verification blocks and automatically includes them as requirements to satisfy.

Specify Design Variables

指定以下模型参数作为设计variables for optimization:

控制器收益ki和KF

Pitch-rate sensor gainKQ

Alpha sensor gainK a

在里面设计变量集drop-down list, select新的。一个对话框选择用于优化的模型参数。

Selectki,KF,KQ和K a。Click << to add the selected parameters to the design variables set.

指定最小值和最大增益值ki和KFvalues must remain negative whileK a和KQmust remain positive.

PressEnterafter you enter the values.

Click好的。A new variableDesignVarsappears in the响应优化器browser.

Evaluate the Initial Design

Click图模型响应to simulate the model and check how well the initial design satisfies the design requirements.

该图表明当前的设计不满足试点G-Force的要求，并且违反了Alpha步骤响应的要求。

优化the Design

Create a plot to display how the controller variables are modified during the optimization. In theData To Plotdrop-down list, selectDesignVars, which contains the optimization design variableski,KF,KQ和K a。在里面添加图drop-down list, selectIteration plot。

Click优化。

要加载预配置文件并运行优化，请单击Open在里面Response Optimizationtab and selectsdoAircraft_sdosession.mat。或者，通过打字来加载项目：

>> load sdoAircraft_sdosession

>> sdotool（sdosessiondata）

这optimization progress window updates at each iteration and shows that the optimization converged after 5 iterations.

这Alpha Response和Pilot G Response图表明，满足了设计要求。这DesignVarsplot shows that the controller gains converged to new values.

To view the optimized design variable values, clickDesignVars在里面响应优化器browser. The optimized values of the design variables are automatically updated in the Simulink model.

％关闭模型bdclose('sdoAircraft')