Graduate Thesis Or Dissertation
 

Design and evaluation of an adaptive element which compensates for deadband as applied to a guidance system

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  • Employing compensators which adapt to errors in system components is one way of meeting the increasingly tight specifications of modern control systems. Indeed this is often the only way that such specifications can be met in systems with unchangeable or best available parts. One type of error found in components is deadband (i. e. the output does not respond to the input for small inputs). This thesis shows the design and evaluation of a digital compensator which minimizes deadband errors. To illustrate deadband compensation, a guidance system is chosen which guides a ship to a specific point on the ocean called the target. The control equations for this guidance system automatically compensate for forces acting on the ship, such as currents and wind, which cause it to drift off course and miss the target. During actual cruises however, it did drift off course and it was determined that deadband associated with the ship's response to rudder displacements was the cause. Four different deadband compensators were tested but only one, an adaptive element, gave the guidance system the desired accuracy. The adaptive element generated sufficient artificial error to cause the ship to return to the desired heading despite the deadband. The general principle of this element can be used in a variety of other closed loop systems which suffer from the effects of deadband.
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