The Control System Analysis and Design Package (CSADP) is a computer-aided
design package for applying classical control system analysis and design tools to
experimental frequency response measurements. CSADP allows the user to analyze
and manipulate measured frequency response data, design control systems using
these measurements, and determine the operational amplifier hardware required to
implement the design. To perform these tasks, CSADP provides tools that allow
the user to define problems using both frequency response data files and transfer
function descriptions; generate Bode, Nyquist, and root-locus plots; and curve-fit
frequency response data. The curve·fitting program uses novel data-scanning
techniques for conditioning the data, and for predicting the model form and
starting parameters. CSADP also allows the user to design compensators
interactively using Bode and root-locus methods, and aids the user in selecting the
required resistor and capacitor values needed for implementing the compensator
using op-amp circuits. In addition, CSADP provides coefficients required to
implement the compensator using selected digital algorithms. CSADP was used in
the design of a velocity loop compensator for a precision diamond turning machine.
Open loop frequency response data gathered from the machine was used as the
basis for compensator design using Bode methods. The required compensator
coefficients generated by the program were programmed into the servo for testing.
Results showed that the closed loop response predicted by the program accurately
matched the measured response. Estimates of natural frequencies provided by the
model prediction program were within 5 percent of the actual values. Errors in
estimates of the damping ratios for very lightly damped complex poles ranged from
only 10 percent to 30 percent. CSADP is written in FORTRAN 77 and provides
Tektronix (TEK) 4010/4014 compatible graphics output.
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