obobshenniy lineyniy diskretniy regulyator

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1-ma'ruza mavzu: massa almashinish jarayonlari lektsiya № 13 tema: algoritmi obobshennix regulyatorov. plan: 1. opisanie obobshennogo regulyatora s pomoshyu operatora sdviga. 2.svoystva obobshennogo regulyatora. 3.chastnie sluchai obobshennogo diskretnogo regulyatora. 4.kriterii kachestva diskretnogo regulyatora. 2 1. obobshenniy lineyniy diskretniy regulyator. obobshenniy lineyniy diskretniy regulyator (general linear discrete controller) — eto algoritm, pozvolyayushiy v zavisimosti ot nabora parametrov poluchat te ili inie strukturi tsifrovogo upravleniya. obobshenniy diskretniy regulyator zapisivaetsya v sleduyushem vide: gde i — vixod regulyatora, is — opornoe znachenie, u — vixodnaya peremennaya protsessa, y(kh) — posledovatelnost diskretnix izmereniy opisanie obobshennogo regulyatora s pomoshyu operatora sdviga s pomoshyu operatora sdviga q virajenie dlya diskretnogo regulyatora stanovitsya bolee kompaktnim. vipolniv perestanovku, poluchim: umnojaya na qn poluchim: regulyator mojno zapisat v vide polinoma: ili svoystva obobshennogo regulyatora ris.13.1. obobshenniy diskretniy regulyator s konturom uprejdayushego upravleniya i obratnoy svyazyu po vixodnoy peremennoy protsessa protsess opisivaetsya diskretnim peredatochnim operatorom h(q) gde otnoshenie vxod/vixod dlya …

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nnoe virajenie s opisaniem pid-regulyatora, to ochevidno, chto diskretniy pid-regulyator fakticheski est chastniy sluchay obobshennogo diskretnogo regulyatora. diskretniy pid-regulyator uravnenie pid-regulyatora mojno perepisat v sleduyushem vide: pi-regulyator kriterii kachestva diskretnogo regulyatora v obobshennom vide diskretniy regulyator mojno nastroit tak, chtobi on udovletvoryal razlichnim kachestvennim i kolichestvennim kriteriyam. "klassicheskiy" kriteriy dlya upravleniya izmerennie znacheniya vixodnix velichin doljni kak mojno menshe otlichatsya ot opornix. etot kriteriy matematicheski formuliruetsya sleduyushim obrazom: pri n → . takoy podxod izvesten kak kriteriy minimalnoy dispersii (minimum variance criterion). pokazatel, vichislenniy po toy je formule, no bez deleniya na n, nazivaetsya summarnim kvadratichnim otkloneniem (quadratic control area). v oboix sluchayax parametri regulyatora nastraivayutsya, chtobi minimizirovat sootvetstvuyushiy pokazatel. ogranicheniya na povedenie regulyatora mojno uchest vvedeniem vesovogo koeffitsienta ρ etot kriteriy nazivaetsya kvadratichnoy funktsiey stoimosti jlg (quadratic cost function) i bistro vozrastaet pri uvelichenii upravlyayushego signala. zakon upravleniya, kotoriy minimiziruet jlq nazivaetsya lineynim zakonom upravleniya, minimiziruyushim kvadratichnoe otklonenie (linear …

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ty tatty g ml uh) ~ [sgt 5p b+. + sy g ™] yeh) rq)=g rq) =qlt ry ght +t ty s(q) = sq) = sy? + sy-qh +. +5, tq) = a" tq) = ty: gh tty gh + tty r(q) uhh) = t(q) - u (kh) — s(q) - y(kh) uh) - 2. eh) - 5) + (rh) = up, (kh) ~ upp hh) rq) rq) (kh) bq) —— = h(q)~—— u(kh) @ a(q) aq) gn og tee a ¥ y bq) = by qh + by gh 1+. + by, u(kh) = ea ci a-r+b.s tm) a-r a-r+b-s - w(kh) u(kh) ~ up (rh) ~ upp kh) — up(hh) = i sq) u,(kh) - ——- y(kh) — rg egy konmyp ynpewdenus ] no soamywenuno | (kh) ol | 5 aplry |) rg] | ynpemdenun | no onopuoxmy snaxenuro mexcuurveckuil poyece u(rh)| [tcg) une), ax wh) | bg) …

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1-ma'ruza mavzu: massa almashinish jarayonlari lektsiya № 13 tema: algoritmi obobshennix regulyatorov. plan: 1. opisanie obobshennogo regulyatora s pomoshyu operatora sdviga. 2.svoystva obobshennogo regulyatora. 3.chastnie sluchai obobshennogo diskretnogo regulyatora. 4.kriterii kachestva diskretnogo regulyatora. 2 1. obobshenniy lineyniy diskretniy regulyator. obobshenniy lineyniy diskretniy regulyator (general linear discrete controller) — eto algoritm, pozvolyayushiy v zavisimosti ot nabora parametrov poluchat te ili inie strukturi tsifrovogo upravleniya. obobshenniy diskretniy regulyator zapisivaetsya v sleduyushem vide: gde i — vixod regulyatora, is — opornoe znachenie, u — vixodnaya peremennaya protsessa, y(kh) — posledovatelnost diskretnix izmereniy opisanie obobshennogo regulyator...

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