controlstructmodule Module Reference

Module with data types and subroutines for coupled modal analysis. More...

Data Types
type	structsensorgradtype
	Data type representing a control input gradient. More...
type	forcecontrolgradtype
	Data type representing a control output gradient. More...
type	controlstructtype
	Data type representing the control-system/structure coupling. More...
interface	writeobject
	Standard routine for writing an object to file. More...

Functions/Subroutines
subroutine	writecontrolstructtype (pCS, io, complexity)
	Standard routine for writing an object to io. More...
subroutine	initiatecontrolstruct (pCS, inputs, triads, joints, forces, numVreg, numNod, ierr)
	Initializes the control struct data type. More...
subroutine	getctrlparamswithstructsensors (ctrlParams, numStructCtrlParams, ctrlParamsWithStructSensors)
	Finds all control input parameters coupled to structural DOFs. More...
subroutine	getctrloutforces (forces, numCtrlOutForces, ctrlOutForces)
	Finds all control out forces. More...
subroutine	buildstructcontroljacobi (pCS, ctrl, sys, msim, ierr)
	Computes the gradient matrices of forces w.r.t. controller inputs. More...
subroutine	estimatecontrollerproperties01 (sys, ctrl, msim, whichVregIn, whichVregOut, ctrlProps, ierr)
	Estimates the controller gradient properties by perturbation. More...
subroutine	estimatecontrollerproperties02 (sys, ctrl, msim, whichVregIn, whichVregOut, ctrlProps, ierr)
subroutine	estimatecontrollerproperties03 (sys, ctrl, msim, whichVregIn, whichVregOut, ctrlProps, ierr)
subroutine	estimatecontrollerproperties04 (sys, ctrl, msim, whichVregIn, whichVregOut, nStep, ctrlProps, ierr)
subroutine	estimatecontrollerproperties500 (sys, ctrl, msim, whichVregIn, whichVregOut, ctrlProps, ierr)
	Perturbation method without initial perturbation. More...
subroutine	perturbcontroller (sys, ctrl, msim, iPert, dt, dy, numVregOut, whichVregOut, uy, ierr)
	Perturbs one of the inputs of the control system. More...
subroutine	deallocatectrlcopy (ctrl)
	Deallocates a control system copy. More...

Detailed Description

Module with data types and subroutines for coupled modal analysis.

This module contains some data types and associated subroutines for conducting coupled modal analysis of mechanim models with control systems.

Function/Subroutine Documentation

buildstructcontroljacobi()

subroutine controlstructmodule::buildstructcontroljacobi	(	type(controlstructtype), intent(inout)	pCS,
		type(controltype), intent(in)	ctrl,
		type(systemtype), intent(inout)	sys,
		integer, dimension(:), intent(in)	msim,
		integer, intent(out)	ierr
	)

Computes the gradient matrices of forces w.r.t. controller inputs.

deallocatectrlcopy()

subroutine controlstructmodule::deallocatectrlcopy

(

type(controltype), pointer

ctrl

)

Deallocates a control system copy.

Parameters

ctrl	Pointer to controltypemodule::controltype object to deallocate.

Author

Knut Morten Okstad

Date

19 Jan 2024

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estimatecontrollerproperties01()

subroutine controlstructmodule::estimatecontrollerproperties01	(	type(systemtype), intent(inout)	sys,
		type(controltype), intent(in)	ctrl,
		integer, dimension(:), intent(in)	msim,
		integer, dimension(:), intent(in)	whichVregIn,
		integer, dimension(:), intent(in)	whichVregOut,
		real(dp), dimension(:,:,:), intent(out)	ctrlProps,
		integer, intent(out)	ierr
	)

Estimates the controller gradient properties by perturbation.

Parameters

	sys	System level model data
	ctrl	Control system data
[in]	msim	Matrix of simulation parameters
[in]	whichVregIn	Which vreg inputs to perturb
[in]	whichVregout	Which vreg outputs to read variation from
[out]	ctrlProps	3D table for storing controller properties (no. of outputs, no. of controller properties, no. of inputs) ctrlProps(:,1,:) = Q ctrlProps(:,2,:) = K ctrlProps(:,3,:) = C ctrlProps(:,4,:) = M
[out]	ierr	Error flag

We use a perturbation method, simular to the Matrix Stiffness Method / (Virtual) Displacement Method / Unit Load Method to find the equivalent mechanical properties of the controller. These controller properties will be added to existing matrices when conducting modal/eigenvalue analysis.

In this routine, the controller is limited to be of type PID. The equation for the system is:

M*x'' + C*x' + K*x + Q*int(x)dt = F

or

M*(d2x/dt2) + C*(dx/dt) + K*x + Q*int(x)dt = F

where M is the mass, C is the damping, K is the stiffness, and Q is the steady state error elimination.

Controller input = y, controller output = u.

The values of interest are:

• du/dy: The change du in output from controller with respect to the change dy in input to controller. du/dy = proportional gain, Kp.
• du/(int(dy)dt): The change du in output from controller with respect to the change int(dy)dt in input to controller. du/(int(dy)dt) = integral gain, Ki.
• du/(dy/dt): The change du in output from controller with respect to the change dy/dt in input to controller. du/(dy/dt) = derivative gain, Kd.

Working order:

1. Do an initial perturbation on the controller with dy = 0 and dt ≠ 0. This is to insure dy/dt = 0.
2. Get the initial values y0 and u0 for the controller.
3. Establish dy(j) and dt(j). j = number of perturbations. For a PID-controller: j = 1...3.
4. Calculate d(int(dy(j))dt) and d(dy/dt).
5. Calculate y(j) and t(j).
6. Iterate the controller with these new values for the input y(j) and time t(j) and save the reaction from the controller u(j) due to the change in the input.
7. Calculate du(j) based on u0 and u(j).
8. Calculate Kp, Ki and Kd.
9. Based on sensor type (position, velocity or acceleration), calculate Q, K, C and M.

Author

Magne Bratland

Date

25 Nov 2010

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estimatecontrollerproperties02()

subroutine controlstructmodule::estimatecontrollerproperties02	(	type(systemtype), intent(inout)	sys,
		type(controltype), intent(in)	ctrl,
		integer, dimension(:), intent(in)	msim,
		integer, dimension(:), intent(in)	whichVregIn,
		integer, dimension(:), intent(in)	whichVregOut,
		real(dp), dimension(:,:,:), intent(out)	ctrlProps,
		integer, intent(inout)	ierr
	)

estimatecontrollerproperties03()

subroutine controlstructmodule::estimatecontrollerproperties03	(	type(systemtype), intent(inout)	sys,
		type(controltype), intent(in)	ctrl,
		integer, dimension(:), intent(in)	msim,
		integer, dimension(:), intent(in)	whichVregIn,
		integer, dimension(:), intent(in)	whichVregOut,
		real(dp), dimension(:,:,:), intent(out)	ctrlProps,
		integer, intent(inout)	ierr
	)

estimatecontrollerproperties04()

subroutine controlstructmodule::estimatecontrollerproperties04	(	type(systemtype), intent(inout)	sys,
		type(controltype), intent(in)	ctrl,
		integer, dimension(:), intent(in)	msim,
		integer, dimension(:), intent(in)	whichVregIn,
		integer, dimension(:), intent(in)	whichVregOut,
		integer, intent(in)	nStep,
		real(dp), dimension(:,:,:), intent(out)	ctrlProps,
		integer, intent(inout)	ierr
	)

estimatecontrollerproperties500()

subroutine controlstructmodule::estimatecontrollerproperties500	(	type(systemtype), intent(inout)	sys,
		type(controltype), intent(in)	ctrl,
		integer, dimension(:), intent(in)	msim,
		integer, dimension(:), intent(in)	whichVregIn,
		integer, dimension(:), intent(in)	whichVregOut,
		real(dp), dimension(:,:,:), intent(out)	ctrlProps,
		integer, intent(inout)	ierr
	)

Perturbation method without initial perturbation.

Perturbation w.r.t. a single integral. nPerturb = 1 in this subroutine, therefore no loop necessary.

Author

Magne Bratland

Date

7 July 2010

getctrloutforces()

subroutine controlstructmodule::getctrloutforces	(	type(forcetype), dimension(:), intent(in), target	forces,
		integer, intent(out)	numCtrlOutForces,
		integer, dimension(:), intent(out), pointer	ctrlOutForces
	)

Finds all control out forces.

getctrlparamswithstructsensors()

subroutine controlstructmodule::getctrlparamswithstructsensors	(	type(ctrlprm), dimension(:), intent(in), target	ctrlParams,
		integer, intent(out)	numStructCtrlParams,
		integer, dimension(:), intent(out), pointer	ctrlParamsWithStructSensors
	)

Finds all control input parameters coupled to structural DOFs.

initiatecontrolstruct()

subroutine controlstructmodule::initiatecontrolstruct	(	type(controlstructtype), intent(out)	pCS,
		type(ctrlprm), dimension(:), intent(in), target	inputs,
		type(triadtype), dimension(:), intent(in), target	triads,
		type(masterslavejointtype), dimension(:), intent(in), target	joints,
		type(forcetype), dimension(:), intent(in), target	forces,
		integer, intent(in)	numVreg,
		integer, intent(in)	numNod,
		integer, intent(out)	ierr
	)

Initializes the control struct data type.

perturbcontroller()

subroutine controlstructmodule::perturbcontroller	(	type(systemtype), intent(inout)	sys,
		type(controltype), intent(inout)	ctrl,
		integer, dimension(:), intent(in)	msim,
		integer, intent(in)	iPert,
		real(dp), intent(in)	dt,
		real(dp), intent(in)	dy,
		integer, intent(in)	numVregOut,
		integer, dimension(:), intent(in)	whichVregOut,
		real(dp), dimension(:), intent(out)	uy,
		integer, intent(out)	ierr
	)

Perturbs one of the inputs of the control system.

Parameters

	sys	System level model data
	ctrl	Control system data
[in]	msim	Matrix of simulation parameters
[in]	iPert	Which input to perturb
[in]	dt	Incremental time step
[in]	dy	Incremental step for use in du/dy
[in]	numVregOut	Number of outputs from the controller to read
[in]	whichVregOut	Which outputs from the controller to read
[out]	uy	Perturbed output from controller, u(y) = u(y0+dy)
[out]	ierr	Error flag

This subroutine perturbs one of the control inputs and calculates the reaction in all of the control outputs.

Working order: 1) Change the input y for the controller from y0 to y = y0+dy, where dy is a small number. Change the time from t0 to t = t0+dt, where dt is a small number. 2) Run this new input through the controller to get the reaction (output) u(y) from the controller due to the change in the input.

Author

Magne Bratland

Date

18 Sept 2009

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writecontrolstructtype()

subroutine controlstructmodule::writecontrolstructtype	(	type(controlstructtype), intent(in)	pCS,
		integer, intent(in)	io,
		integer, intent(in)	complexity
	)

Standard routine for writing an object to io.

Parameters

[in]	pCS	Data for coupled control system and structure modal analysis
[in]	io	File unit number to write to
[in]	complexity	Indicates the amount of print

Author

Knut Morten Okstad

Date

19 Feb 2024