National Instruments ICDM Zooming, Data-Viewing Plots

Chapter 2 Introduction to SISO Design

Xmath Interactive Control Design Module 2-12 ni.com

window has an autoscale feature, which can be invoked by selecting

Autoscale on the View or Plot menu of the window. When you invoke

Autoscale, ICDM tries to assign some reasonable values to the slider and

plot scales.

Zooming

You can enlarge any portion of an ICDM plot using plot zooming. Clicking

the middle mouse button with the cursor anywhere in the plot creates a

small box containing a magnified version of the plot near the cursor. The

middle mouse button can be held down and dragged, which creates an

effect similar to dragging a magnifying glass across the plot.

Pressing <Ctrl> along with the middle mouse button (on UNIX) increases

the size of the magnified box. Clicking with the middle mouse button

increases the zoom factor. Pressing <Shift-Ctrl> along with middle mouse

button yields a large zoom box with a large magnification factor.

Zooming is a good way to read text in ICDM plots—for example, titles,

axis labels, and so on. These were intentionally made small because

zooming is easy.

Data-Viewing Plots

Pointing at or near plotted information within the ICDM windows and

clicking the right mouse button causes a small window to appear that

identifies the plot and gives the coordinates of the nearest data point

(forexam ple, Loop Gain, L(10.1Hz) |=+11.2dB), along with its index.

This feature is called data-viewing.

If the right mouse button is clicked and dragged, the selected plot is tracked,

even if another plot comes close.

Pressing <Shift> along with the right mouse button allows the user to get

values on the piecewise linear plot that interpolates the data values. In this

case, index = 45.7 means that the selected plot point is between the 45th and

46th X-coordinate entries.

Because all ICDM plots have extensive data-viewing features, the number

of labels used to identify plots are minimal. For example, the Root Locus

plot has red and black poles and zeros shown, but no indication or label in

the plot saying what these colors mean. On a black-and-white display, you

cannot distinguish between the red and black poles/zeros. You can read in

the Help file message that the red ones correspond to the plant, and the

black ones to the controller. However, the easiest way to find out what the

Contents

Main Page Important Information Warranty Copyright Trademarks Patents Conventions Contents Chapter 1 Introduction Chapter 2 Introduction to SISO Design Chapter 3 ICDM Main Window Chapter 4 PID Synthesis Chapter 5 Root Locus Synthesis Chapter 6 Pole Place Synthesis Chapter 7 LQG Synthesis Chapter 8 H-Infinity Synthesis Chapter 9 Chapter 10 Alternate Plant Window Chapter 11 Introduction to MIMO Design Chapter 12 LQG/H-Infinity Synthesis Page Introduction Using This Manual Document Organization Page Commonly-Used Nomenclature Related Publications MATRIXx Help ICDM Overview SISO Versus MIMO Design Starting ICDM Page Introduction to SISO Design SISO Design Overview Basic SISO Terminology Page Overview of ICDM ICDM Windows ICDM Main Window PID Synthesis Window Root Locus Synthesis Window Pole Place Synthesis Window LQG Synthesis Window H-Infinity Synthesis Window Alternate Plant Window Key Transfer Functions and Data Flow in ICDM Summary Origin of the Controller What the ICDM Main Window Plots Show Controller/Synthesis Window Compatibilities Page Using ICDM G G Page Zooming Data-Viewing Plots Interactive Plot Re-ranging Graphically Manipulating Poles and Zeros Editing Poles and Zeros Editing Poles and Zeros Graphically Complex Poles and Zeros Isolated Real Poles and Zeros Nonisolated Real Poles and Zeros and Almost Real Pairs Adding/Deleting Poles and Zeros Adding/Deleting Pole-Zero Pairs Page ICDM Main Window Communicating with Xmath Most Common Usage Default Plants Saving and Restoring an ICDM Session Reading Another Plant into ICDM Reading a Controller from Xmath into ICDM Writing the Plant Back to Xmath Writing the Alternate Plant back to Xmath Writing a Controller on the History List to Xmath ICDM Plots Selecting Plots Ranges of Plots Plot Magnify Windows Page Selecting a Synthesis or History Window Edit Menu PID Synthesis PID Controller Terms Toggling Controller Terms On and Off Page Opening the PID Synthesis Window Manipulating the Controller Parameters Time Versus Frequency Parameters Ranges of Sliders and Plots Controller Term Normalizations Integral Term Normalization Derivative Term Normalization Rolloff Term Normalization Root Locus Synthesis Overview Page Opening the Root Locus Synthesis Window Terminology Plotting Styles Phase Contours Magnitude Contours Slider and Plot Ranges Manipulating the Parameters Design Adding a Pole-Zero Pair Deleting Pole-Zero Pairs Interpreting the Nonstandard Contour Plots Page Pole Place Synthesis Pole Place Modes Normal Mode Integral Action Mode State-Space Interpretation Opening the Pole Place Window Manipulating the Closed-Loop Poles Time and Frequency Scaling Butterworth Configuration Editing the Closed-Loop Poles Slider and Plot Ranges LQG Synthesis LQG Synthesis Window Anatomy Page Synthesis Modes Opening the LQG Synthesis Window Setup and Terminology Standard LQG (All Toggle Buttons Off) Exponential Time Weighting Output Weight Editing State-Space Interpretation Manipulating the Design Parameters Graphically Page H-Infinity Synthesis H-Infinity Synthesis Window Anatomy Page Opening the Synthesis Window Setup and Synthesis Method Central H-Infinity Controller Output Weight Editing Manipulating the Weight Transfer Function Infeasible Parameter Values Page History Window Saving the Current Controller on the History List Opening the History Window History Window Anatomy Selecting the Active Controller Editing the Comments Deleting History List Entries To Continue Designing from a Saved Controller Cycling Through Designs Writing a Saved Design to Xmath Page Alternate Plant Window Role and Use of Plant and Alternate Plant Displaying the Alternate Plant Responses Alternate Plant Window Anatomy Page Normalization Manipulating the Parameters Using the Alternate Plant Window Robustness to Plant Variations Adding Unmodeled Dynamics Ranges of Sliders and Plot Introduction to MIMO Design Basic Terminology for MIMO Systems Feedback System Configuration Transfer Functions Page Page Overview of ICDM for MIMO Design ICDM MIMO Windows Main Window MIMO Plot Window Alternate Plant Window (MIMO Version) Page LQG/H-Infinity Synthesis LQG/H-Infinity Main Window LQG/H-Infinity Weights Window Page Page Decay Rate Window H-Infinity Performance Window Frequency Weights Window Synthesis Modes and Window Usage Opening the LQG/H-Infinity Synthesis Window Setup and Terminology Page Chapter 12 LQG/H-Infinity Synthesis Xmath Interactive Control Design Module 12-10 ni.com Figure 12-6. LQG/H-Infinity Control Design Configuration w How to Select w, u, y, and z H-Infinity Solution Page Main Window Page Multi-Loop Synthesis Multi-Loop Window Anatomy Page Setup and Synthesis Method Multi-Loop Versus Multivariable Design Page Page Page Opening the Multi-Loop Synthesis Window Designing a Multi-Loop Controller Graphical Editor Selecting and Deselecting Loops Editing and Deleting Loops Loop Gain Magnitude and Phase A Using an Xmath GUI Tool Overview Interacting with a GUI Application GUI Functions GUI Objects Page Page Page B Technical Support and Professional Services Index A B C D G H I K L R S T W Z