Documente Academic
Documente Profesional
Documente Cultură
automate
Curs - anul IV
Specializarea:
Automatica si Informatica Aplicata
1. Introducere
Inginerie
Inginer
z
z
z
Ceasul cu apa
Ktesibios - i.Hr.
Governor
Sfritul secolului XX
- reglarea
g
automata element esenial
al societii
moderne
- automatizarea cldirilor si a automobilelor
- sisteme complexe de conducere:
- procese chimice, aeronave, procese de producie
- tehnologii
g cutting
g edge:
g
- utilaje forte de mii de tone
- viteze foarte mari 120 km/h
- tolerante
t l
t de
d ordinul
di l m iindustria
d t i aluminiului
l i i l i (5 m))
- aplicaii in afara industriei:
- sisteme biologice, reele de comunicaii, sisteme
economice
t pentru
t a aciona
i
asupra procesului
l i
- interfaarea: diferitele componente ale sistemului de
regalare pot fi monitorizate in mod unitar
z
1.
2.
3.
4
4.
5.
6.
7.
8.
9
9.
Daca
D
poii msura
z
z
z
cu diferite subcomponente
p
Interfee speciale pentru diferite componente
standardizarea interfeelor
scop
ti
timp
proiectare
i t
optimizare la nivel
de p
proces
comenzi client si
programarea
p
g
materialelor
zilnic
optimizare
statica
optimizare
staionara
(nivel subsistem)
funcionarea
eficienta a unui
subsistem
la fiecare optimizare
ora
statica
reglare la nivelul
operaional
(nivel subsistem)
realizarea
referinelor 3
la fiecare reglare:
minut
- MVa
MV
- MBPC
reglare
g
la nivelul
EE
realizarea mrimii
de execuie 2
la fiecare reglare:
g
secunda SISO (PID)
Algoritmi de reglare
inima ingineriei reglrii
conecteaz senzorii cu EE
tema centrala a cursului:
Ingineria Reglrii Automate - IRA
z
z
z
PF
Regulator
Proces
(i)
(t)
e(t)
r(t) +
Regulator
e(k)
(k)
CAN
u(k)
(k)
RN
u(t)
(t)
CNA
y(t)
(t)
PF
Regulator
Regulator analogic (PID)
(PID)
fe mari
Echipament numeric
(ii)
r(k)
+
e(k)
u(k)
RN
u(t)
CNA
y(t)
PF
y(k)
CAN
Proces discretizat
1.
2.
3.
2.
3.
4.
5.
6.
Bibliografie
g
1.
2.
3.
4.
5.
6
6.
7.
8.
9.
http://www.ac.tuiasi.ro/pagina
p
p g _p
profesor/index.php?id=96#teaching
p p
g
Lazar C., Vrabie D., Carari S. (2004). Sisteme automate cu
regulatoare PID, Editura MATRIXROM, Bucureti.
Lazr C., O. Pstrvanu, E. Poli, Fr. Sghonberger (1996).
Conducerea asistata de calculator a proceselor tehnice
proiectarea si implementarea algoritmilor de reglare numerica.
Editura MATRIXROM, Bucureti.
Lazr C. (1999). Conducerea predictiva a proceselor cu model
cunoscut.
t Editura
Edit
MATRIXROM,
MATRIXROM Bucureti.
B
ti
Dumitrache I. (2005), Ingineria reglarii automate. Editura Politehnica
Press, Bucureti.
Ionescu V. (1985). Teoria sistemelor liniare. Editura Didactica si
Pedagogica, Bucureti.
Tertisco M., D. Popescu, B. Jora, I. Russ (1991). Automatizri
industriale continue. Editura Didactica si Pedagogica, Bucureti
G d i C
Goodwin
C., G
G., S
S. F
F. G
Graebe,
b M
M. E.
E S
Salgado
l d (2001)
(2001). Control
C t l
System Design. Prentice Hall, New Jersey
Grimble M. J. (2001). Idustrial Control Systems Design.
Wiley,Chichester.
GR(s)
Regulator
x +
Gf (s)
Proces
GR(s)
Regulator
n
v
Gf (s)
x +
Proces
G f ( s)G R ( s )
1 + G f ( s )G R ( s )
G f ( s )G R ( s )
1 + G f ( s )G R ( s )
R( s) +
R( s) +
G f ( s)
1 + G f ( s)G R ( s)
G f (s)
1 + G f ( s )G R ( s )
P( s)
P( s) +
G f ( s )G R ( s )
1 + G f ( s )G R ( s )
N (s)
1
N (s)
1 + G f ( s )G R ( s )
G f ( s )G R ( s )
G R (s)
G R ( s)
R( s)
N ( s)
P( s)
1 + G f ( s )G R ( s )
1 + G f ( s )G R ( s )
1 + G f ( s )G R ( s )
(2.1)
(2.1) 4 f.d.t
G0 ( s ) =
G f ( s )G R ( s )
1 + G f ( s )G R ( s )
G0 p ( s ) =
Gs ( s) =
r y
(2.2)
G f ( s)
1 + G f ( s )G R ( s )
1
,
1 + G f ( s )G R ( s )
G R (s)
G sn ( s ) =
,
1 + G f ( s )G R ( s )
py
r e
(2.3)
nu
+ v
x +
p = n = 0 Gd ( s) = G f ( s)G R ( s) : e y
(2 4)
(2.4)
G0 ( s ) =
Gd ( s )
1 + Gd ( s )
(2.5)
Gd ( s ) =
kd M ( s )
, M ( 0) = N ( 0) = 1
s d N ( s )
(2.6)
G0 ( s ) =
kd M ( s )
N ( s ) + kd M ( s )
d = 1 G ( 0) = 1
(2.7)
Proprieti:
P
i ti
-stabilitate;
-urmrirea referinei;
-rejecia
rejecia perturbaiilor de sarcin;
-reducerea efectelor zgomotului de msur;
-robustee.
Gd ( s )
1
, G0 ( s ) =
1 + Gd ( s )
1 + Gd ( s )
(2.8)
1
Am
Re
((-1,
1, j0
j0))
m
1
Ms
t
Gd (j)
(2.9)
arg Gd ( j 0 ) =
Marginea de faz
m = + arg Gd ( jt )
(2.10)
G d ( j t ) = 1
Marginea de modul
M s = max G s ( j )
(2.11)
Am = 2 5
Valorile tipice:
m = 30 0 60 0
(2.12)
M s = 1.3 2
2.2.2 Perturbaii
G f (s)
1 + Gd (s)
()
= G f ( s ) Gs ( s )
(2 13)
(2.13)
kf Mf (s)
;
st Nf (s)
G d (s) =
Mf (0) = Nf (0) =1
d M (s) ;
s d N (s)
M (0) = N (0) = 1
(2.14)
2.2.2 Perturbaii
s0
G f ( s)
P0
1 + Gd ( s) s
(2.15)
kf
f
yst = lim s
P
kd 0
s0
1+
s d
(2.16)
(2.17)
yst = 0 d > f
Gop ( j ) < 2,
(2.18)
2.2.2 Perturbaii
Zgomotul de masur
Semnale analogice de 10 V
Zgomotul de masur 1mV
u 1V
3
k R f .i 10
kRf .i 500
2.2.2 Perturbaii
Zgomotul de masur
G sn ( s ) =
G R (s)
= G R ( s )G s ( s )
1 + Gd (s)
(2.19)
(0.1 0.9) y st
est
r
yst
0.9*y
y (t ) y st y st , = 0.02(0.05)
st
yM
0.1*yst
0
t t t
yM 2
Suprareglarea:
=
tc
tt
y M 1 y st
y st
Gradul de amortizare:
=
2 yM 2 yst
=
1 yM1 yst
est E ( s ) =
1
R( s)
1 + Gd ( s )
r0
ep
s
v
R ( s ) = 02 ev
s
R( s) =
Eroarea la poziie
Eroarea la vitez
e p = lim s E ( s ) = lim s
s 0
(2.20)
s 0
ep = 0 d 1
r
1
1
0 = lim
r0
1 + Gd ( s ) s s 0 1 + k d
s d
(2.21)
v0
1
s 0 s
k
1 + dd
s
ev = lim s E ( s ) = lim
s 0
(2.22)
e p = 0 d = 1 sau G0 (0) = 1
d = 1 ev valoare finit
ev a repartitia poli zerouri
m
G0 ( s ) =
k 0 ( s + zi )
i '1
( s + pi )
( p z)G
= GR ( s )Gs ( s )
(2.23))
j =1
s 0
(2.24))
0
0
=> lim
dG0 ( s )
d
ev = lim ds = lim [ln G0 ( s )]
s 0
s 0 ds
1
ev = lim
s 0
ev =
i =1
m
n
d
[ln k 0 + ln( s + zi ) ln( s + p j )]
ds
i =1
j =1
m
1
1
p j i =1 zi
(2.25)
est = 0
I1 = e(t )dt
IE (Integrated Error)
(2.26)
2 26)
y
1
r(t)
(t)
e
1
+
0
b) eroarea de reglare
|e(t)|
+
+
I 2 = e(t ) dt
I 3 = e 2 (t )dt
(2.27)
(2.28)
I 4 = t e(t ) dt
0
I 5 = te 2 (t ) dt
((ISTE)) Integrated
g
Squared
q
Time weighted
g
Error
I 6 = t 2 e 2 (t ) dt
I7 = e2 (t ) + u 2 (t ) dt
G0 ( s ); R ( s ) =
tm
r (t ) = 1(t )
, m 1
(
m
1
)!
1
(2.31)
sm
1
s
G0(1) (0)
1!
1
s
m 1
+ ... +
(2.32)
G0(m 1) (0) 1
(m 1)! s
~
+ G0 ( s) (2.33)
( p z ) G~ > 0
0
G0(1) (0) t m 2
G0( m 1) (0)
t m 1
y f (t ) = G0 (0)
+
+ ... +
+ yt (t )
(m 1)!
1! (m 2)!
(m 1)!
SRA stabile
yt (t ) 0 pt.
pt t
y f (t ) = y p (t ) + yt (t )
(2.34)
r = treapt unitar:
yp
regimul permanent
regimul staionar
G0 ( s ) : m poli reali s = pi
Rspunsul indicial:
n
Bj
1 m Ai
Y ( s) = +
+ 2
s i =1 s + pi j =1 s + 2 j s + ( 2j + 2j )
y (t ) = 1 +
Ai e pit +
i =1
1
B
j
j =1
j
n
L1
j t
e
sin j t
1
1 + sT1
; un pol real
y
0.04
:
Im
1
0.9
-1,
1, j0
Re
Gd (j)
0.1
t1
T1
t2
tt
R
Rspunsul
l indicial
i di i l (a)
( ) ii l.d.t.
l d t (b)
durata regimului
g
tranzitoriu: tt = 4T1
suprareglarea: = 0
timpul de cretere: t c 2T1
erori staionare: e p = 0, ev = T1
marginea de modul: M s = 1
Am =
marginea
g
de amplitudine:
p
m = 90 o
marginea de faz:
frecvena de tiere: t = 1 / T1
Sistemul de ordinul II
G0 ( s ) =
n2
s 2 + 2 n s + n2
Raspunsul indicial: y (t ) = 1
y
[0,1]
Gd ( s ) =
n2
s ( s + 2
n)
e n t
sin n 1 2 t +
1 2
cos = , sin = 1 2
Im
yn
0.04
1
0.9
Re
(-1, j0)
m
0.5
0.1
Gd(jt)
ti
tc
t1
t3
tt
a) Raspunsul indicial
Gd(j)
b) Locul de transfer
ln 0.02 1 2
tt
n
y y stt
= M
= yM 1 = e
y st
suprareglarea:
l
timpul de cretere:
erori staionare:
t0.9
e p = 0,
l 0.1 1 y2
ln
ev =
tt
1 2
; t0.1
ln
l 0.9 1 y2
tc = t0.9 t0.1 =
marginea de faz:
marginea de modul:
- pulsatia:
l i
s =
m = 90 o arctg
t
2 n
M s = max S ( j) = max
1 + 8 2 + 1
n
2
frecvena de tiere:
largimea de banda:
pulsatia de rezonanta:
Gd ( jt ) = 1
t = n
20 lg M (B ) = 3dB
)
)
4 4 + 1 2 2
B = n 1 2 2 + (1 2 2 )2 + 1
= 1 2 2 pt. 2 / 2
dM ( )
r
n
=0
d
r = 0
pt. > 2 / 2
1
, pt. 2 / 2
2
M v = M (r ) = 2 1
pt. > 2 / 2
1,
G0 ( j ) = M ( );
)
(
(
8 2 + 1 + 4 2 + 1 8 2 + 1
1
=
1 + Gd ( j)
8 2 + 1 + 4 2 1 8 2 + 1
l 9
ln
y (t ) =
c + j
(1)
1 G0 ( s ) st
1 G0 ( s ) st
e ds +
e ds
2j C s
2j s
((2))
C
y (t ) =
c=0
Conturul de integrare
c + j
G0 ( s ) st
1
1
st
e ds, t 0
Y ( s)e ds = 2j
2j c j
s
c j
G0 ( j ) jt
1
1
G ( s )
y (t ) =
e d ( j ) +
j Re z 0 e st , t 0
2j
2j j j
s
s =0
s = j
(3)
G0(0)
G0 ( j ) jt
e d , t 0
j
(4)
G0 ( j ) = M ( )e j ( ) = M ( )[cos ( ) + j sin ( )] = P ( ) + jQ ( )
(5)
( 3) cu 0
y (t ) =
G0 (0) 1
+
2
2
y (t ) =
G0 (0) 1
+
2
2
1
+
2
M ( )
cos[t + ( )]d +
j
G ( 0)
M ( )
j j sin[t + ( )]d = 02 + I1 + I 2
I1 functie impara in I1 = 0
I 2 functie para in
(6)
G (0) 1 M ( )
y (t ) = 0
+
sin[t + ( )]d , t 0
2
0
y (t ) =
G0 (0) 1 M ( )
+
sin[t + ( )]d , t 0
2
(7)
(i)
t < 0 t t
0=
G0 (0) 1 M ( )
+
sin[ t + ( )]d , t 0
2
0
(i) (ii ) y (t ) =
2 P( ) sin t
d , t 0
2 Q( ) cos t
(ii)
(8)
(9)
y (t ) =
2 P( ) sin t
(10)
d , t 0
y (0) = 0
(11)
Pentru a determina evoluia lui y(t) ntre 0 i P(0) 3 forme tipice ale P()
P()
P()
P ( ) > 0 0
dP ( )
d 0 0
( )
(a)
(12)
(13)
0, k t , (k + 1) t , k = 0,2,4,,....
sin t =
0, k , (k + 1) , k = 1,3,5,...
t
N t i
Notaie:
( k +1)
P ( ) sin t
(14)
y (t ) = a 0 a1 + a 2 a3 + ....... 0
(15)
a k = (1)
a a a1 a 2 ........ > 0
0
0
y (t ) a 0 =
0
0
P( ) sin t
2 P(0)
sin t
((16))
Notaie: Si ( ) =
sin
(17)
2 P (0)
y (t )
Si = 1.18 P ((0))
(18)
y
1.18P(0)
P(0)
y M 1.18 y st
0
0 18 0 0
P( )
Pmax
Pmax
P+( )
P(0)
(b)
0
max
-(P
(Pmax-P(0))
P(0))
- P-()
max
(19)
P( ) = P + ( ) P ( ) y (t ) = y + (t ) y (t )
y (t ) y + (t ) 1.18 P + (0) = 1.18 Pmax
=
= y
P(0)
st
P( )
P max
(20)
y (t ) =
(c)
min
-P min
P( ) sin t
d +
y (t ) = y1 (t ) + y2 (t )
y (t ) 1.18Pmax + y2 (t )
P(0)
max
P( ) sin t
(21)
~
0,
P ( ) =
P( ),
2 P( ) sin t
y2 (t ) =
~+
(22)
(23)
P( ) = P ( ) P ( ) y2 + (t ) y2 (t )
y2 (t ) =
(24)
P ( ) sin
i t
(2 )
(25)
y2 (t ) = a0 a1 + a2 a3 + ......
(26)
a0 a1 y2 ( + ) a0
2 t
P ( ) sin t
d y2 (t )
t ~
P ( ) sin t
~+
t
P
2
( ) sin t
y + (t )
d
2
0
~
2 t
2
P ( ) sin t
d
y2 (t )
0
y2 (t )
0
2
y2 (t )
~+
P ( ) sin t
~+
2 Pmin
2 t
P ( ) sin t
2 t
d =
P ( ) sin t
sin t
2 Pmin
t d = [Si Si (2 )]
y 2 (t ) 0.274Pmin
(28)
2 t
(27)
:majorare y2 (t ) = y2 y2 (t )
[ P ( ) P ( )] sin t
(29)
(30)
(31)
y 2 (t ) 0.274Pmin
yst
P(0)
(32)
P(0), 0 d
0
P( ) = P(0)
, d 0
0
d
0, > 0
P()
P(0)
y (t ) =
sin t
P(0)
d +
0
0 sin t
d
+ P(0)
d 0
2
(33)
(34)
y (t ) =
cos d t cos 0t
d
2 P(0) 0
Si (0t )
Si (d t )
0 d
0 d
t (0 d )
(35)
= d [0,1]
0
y * (t ) =
y (t )
P (0)
(36)
=> pu
pulsaia
s relativ
e v de frngere
ge e
=>rspuns indicial normat
y*
1.18
= 0.4
= 0.2
y* ( ) =
2
cos cos
Si Si ( )
(1 )
=0
G0 ( j ) = M ( ) e j ( ) = P( ) + jQ( )
Gd ( j) = u() + jv
j () = u + jv
j
u 2 + v2
M ( ) =
(1 + u ) 2 + v 2
G d ( j )
u + jv
G o ( j ) =
=
=
1 + G d ( j ) 1 + u + jv
2
2
v
u2 + v2 + u
P ( ) = u + v + u
j
=
+
(1 + u ) 2 + v 2
(1 + u ) 2 + v
(1 + u ) 2 + v 2
**
M 2
M2
2
M=ct. * : u +
+v
=0
2
2
2
1
(
M
1
)
,
0
Cerc:
2
M 1
R=
M
M 2 1
M()
M=1
M>1
M<1
Mv
4 56
7
3
(-1,j0)
-1/2
Re
0
M(0) = 1
Gd (j)
1 2 3 4 5 6 7
2P 1
1
P=ct. ** : u +
+ v 2
=0
2
2
(
1
)
P
4( P 1)
Cerc:
2P 1
,0
2
(
P
1
)
R=
1
2 P 1
0
t
Gd(j)
P ( )caracteristica(b) 1.18Pmax 1
caracteris
i tica
i (c) 1.18Pmax + 0.274 Pmin 1
(problema reglrii)
P( )
Ad 0 ~ Bt 0
Pmax
0 t
0.5
=
0 d Pmax
P(0) = 1
0.5
d
= 1 Pmax
0
t
0
0.5
-Pmin
max d
Pmax , 0 ,
grafic
t
P = 0 P = 0.5
t
22
20
18
tt = t
0
16
14
12
8
tt =
6
4
2
0
0
0.25
0.5
0.75
8 10
G0
element de ordin II
2
= 1 e 1
2 ( M v
= 1 e
1
Mv =
2
2 1
M v 2 1)
()
Ordin superior
2
0.6
0.7
0.8
0.9
Se determin M v din: Gd ( j ) p
peste cercurile M=ct.
M=1
M >1
Im
M v ( ) = 1
M<1
Mv
Re
0
Gd (j)
=1
3. Reglarea PID
Minorsky - 1922
PID
Forma standard
(algoritmul ISA)
Proces
G R ( s ) = K R (1 +
1
sTi
+ sTd )
KR : factorul de proporionalitate
(BP=100/Kr : banda de proport.)
Ti : timpul de integrare
Td : timpul de derivare
Forma serie
(cu interinfluen)
'
GR (s) = KR
(1+
1
sTi'
)(1+ sTd' )
I
+ +
+ u
T ' + Td'
K R = K R' i
Ti'
Ti = Ti' + Td' ; Td =
Ti'Td'
Ti' + Td'
Forma p
paralel
GR ( s) = k +
PID cu p
ponderarea
referinei (regulatoare cu
dou grade de libertate)
ki
s
+ sk d
u (t ) = k R [ p +
p = br y
+ u
+
1 t
d d
]
0 ( )d + Td
dt
Ti
=r y
d = cr y
- b = c = 0 regulator I PD
- b = 1 c = 0 regulator PI D
n
GRsp
Proces
GRyy
G Rsp ( s ) = k R (b +
G Ry
R ( s ) = k R (1 +
1
sT i
1
sT i
+ csT d )
+ sT d )
n = a sin t u d = k R T d
D=
Td dD
N dt
k R Td
dy
dt
D=
sTd
1 + sTd / N
dn
dt
; N = 8 20
= aK R T d cos t
( N = 10 )
y (t ) = sin t + an sin t
dy ( t )
= cos t + an cos t
dt
10
15
10
15
10
15
2
dy/dt
sTd
1 + sTd / N
time
0
-2
GD ( s ) = sTd
GDf ( s ) =
0
-2
5
time
dy/dt - filter
2
0
-2
5
time
PID incremental
i
(de vitez)
s 2 k R Td
1 + sTd / N
sK R
kR
Ti
+ +
du
dt
I exterior
1
s
Regulator
3 1 2 Regulatorul
3.1.2
R
l t l PID numeric
i
Discretizare
componenta proporional (P):
componenta integral (I)
kR t
dI k
( )d = R
Ti 0
dt Ti
metoda dreptunghiului n avans
I (t ) =
I (k +1) I (k )
k
k T
= R (k ) I (k +1) = I (k ) + R (k )
T
Ti
Ti
metoda dreptunghiului
I (k ) I (k 1) k R
K T
=
(k ) I (k ) = I (k 1) + R (k )
T
Ti
Ti
metoda trapezelor (Tustin)
I ( k ) = I ( k 1) +
K RT
[ ( k ) + ( k 1)]
Ti 2
I ( k ) = I ( k 1) + bi1 ( k ) + bi 2 ( k 1)]
Td dD
d
dy
+ D = k R Td
N dt
dt
componenta derivativ
metoda dreptunghiului n avans
Td D(k + 1) D(k )
y(k + 1) y(k )
NT
+ D(k ) = kRTd
D(k + 1) = (1
) D(k ) kR N[ y(k + 1) y(k )]
N
T
T
Td
metoda dreptunghiuului
Td D(k ) D(k 1)
Td
kTN
y(k ) y(k 1)
+ D(k ) = kRTd
D(k ) = (
) D(k 1) R d [ y(k ) y(k 1)]
N
Td + NT
T
T
Td + NT
metoda
d trapezelor
l (Tustin)
(T i )
D(k ) =
2Td NT
2Td + NT
D(k 1)
2k RTd N
2Td + NT
D ( k ) = d D ( k 1) bd [ y ( k ) y ( k 1)]
Not:
1
1
1
PID R( z )u(k ) = S ( z ) y(k ) + T ( z )r (k ) regulator 2-GDL
R( z -1 ) = (1 z 1 )(1 z 1 d )
S ( z -1 ) = s0 + s1 z -1 + s2 z 2
T ( z -1 ) = t0 + t1 z 1 + t 2 z 2
u (k ) = (1 + d )u (k 1) d u (k 2) s0 y ( k ) s1 y (k 1) s2 y ( k 2) +
+ t0 r ( k ) + t1r ( k 1) + t 2 r (k 2)
s0 = k R + bi1 + bd
s1 = k R (1 + d ) bi1 d + bi 2 2bd
s2 = k R d bi 2 d + bd
t0 = k R b + bi1
k RT
Ti
k RT
2Ti
bi2
k RT
Ti
k RT
2Ti
t1 = k R b(1 + d ) bi1 d + bi 2
t 2 = k R b d bi 2 d
Tustin
d
bd
NT
Td
kRN
2Td NT
Td
Td + NT
2Td + NT
k RTdN
Td + NT
2k RTdN
2Td + NT
1
sTd
Forma standard ((ISA)) : U = k R [bR y + sT E + 1 + sTd / N (cR y )]
i
U = k R' [(b +
1 1 + scTd '
1
1 + sT ' d
)
R (1 + ' )
y]
sTi 1 + sTd ' / N
sTi 1 + sT ' d / N
U = k (bR y ) +
ki
kd s
E+
(cR y )
s
1 + skd /( N )
+
PID
_
Proiectare
+
+
Proces
KR , Ti , Td ((N))
y
u=
G f (s) =
a sL
e
sL
Regulator
KR
Ti
Td
P
PI
1/a
0 9/a
0.9/a
3L
PID
1.2/a
2L
L/2
1
d=
4
r +
KR
G f (s )
1 .4
1 .2
1
r = 1 0 .8
0 .6
0 .4
0 .2
G f ( j )
10
15
Nyquist Plot
20
25
T im e (se c)
30
35
40
45
50
T0
Nyquist Diagram
1.5
Imaginaryy Axis
0.5
Gf ( j0 )
-0.5
Regulator
KR
Ti
Td
0.5Kc
PI
0.4Kc
0.8T0
PID
0.6Kc
0.5T0
0.125T0
-1
-1.5
-1
Gf ( j )
-0.5
0.5
Real Axis
1.5
Not:
Kc =
1
G f ( j0 )
Metoda
M t d reaction
ti curve (raspuns
(
lla semnall treapta)
t
t )
k
f
sL
model G f ( s ) = 1 + sT e
y(t)
y
L = t1 t 0
T f = t 2 t1
y0
t0 t1
t2
Ziegler Nichols
Regulator
KR
Tf
kf L
PI
PID
0.9T f
kf L
1.2T f
kf L
y y0
u u0
kf =
Cohen - Coon
Ti
Td
Regulator
KR
Tf
1 + L
k f L 3T f
3L
PI
Tf
0. 9 + L
k f L
12T f
L(30T f + 3L)
2L
0 5L
0.5L
PID
Tf 4
+ L
k f L 3 4T f
L(32T f + 6 L)
Ti
Td
9T f + 20 L
13T f + 8L
3 2 2 Acordarea analitica
3.2.2
Metoda Haalman
F
Funcia
i de
d transfer
f n
circuit
i i deschis:
d hi Gd ( s ) =
2 sL
e
3Ls
PI:
Proces : G f ( s ) =
kf
1 + sT f
e sL
kR =
Regulator :
G R ( s ) = Gd ( s )
2T f
3Lk f
2T f
1
1
=
(1 +
)
G f ( s ) 3Lk f
sT f
Ti = T f
4T f L
11T f + 2L
PID:
Proces: G f ( s ) =
Kf
(1 + sT f ) (1 + sT f )
1
R l t : GR ( s ) = Gd ( s )
Regulator
2 T f1 + T f 2
1
1
1 +
=
G f (s)
3LK f
T f1 + T f 2
2 T f1 + T f 2
3Lk f
Ti = T f1 + T f 2
T f1T f 2
Td =
T f1 + T f 2
KR =
e sL
s
s T f1 + T f 2
+
KR
Gd ( s ) = G R ( s ) G f ( s )
2 sL
e
3Ls
KR
1+sTi Kf sL
e
sTi 1+sTf
Kf
s2TiTd +sTi +1
es:L
2
sTi
1+sTf1 +Tf2 +s Tf1Tf2
T f1T f 2
kf
1 + sT f
e sL
e sL
: parametru de acordare
bucl nchis: G0 ( s ) =
1 + sT f
regulatorul:
GR ( s ) = Gd ( s )
G R (s) =
1
G0 ( s )
1
=
G f ( s ) 1 G0 ( s ) G f ( s )
1 + sT f
K f 1 + T f s e sL
U (s )
1
(1 + sT f )E ( s )
1 + T f s e sL U ( s ) =
E (s )
Kf
U (s) =
PI
KR =
1
K f ;
Ti = T f
1
K
Kf
1 + 1 E ( s )
1 e sL U ( s )
sT f
1 + sT f
Kf
1 + sT f
(1 e sL )U ( s )
U (s) =
Regulatorul PIp:
1
K f
1
1 +
sT f
1
U ( s ) = K R 1 +
Ti
sT
1
1 e sL ) U ( s )
E ( s )
(
s T f
1
(1 e sL )U (s)
E (s)
s
T
i
I ( ) =
2
n
t [e( , t )] dt ,
0
Proces G f ( s ) =
a
PI kR = 1
kf
kf
1 + sT f
Tf
a
PID k R = 1
kf
e sL
1
Tf
,
, Ti =
a2 + b2
Tf
Tf
b1
Tf
, Td = a3T f
, Ti =
a2 + b2 ( L / T f )
Tf
b3
C
Criteriul
it i l modului:
d l i
performane optime pentru r =
Criteriul simetriei:
performane optime pentru r =
(pentru 0)
n prezena perturbaiilor
n prezena perturbaiilor
Procese rapide: G f ( s ) =
kf
n
(1 + sT ) (1 + sTk )
k =1
T = 1 + T1 + .. + T m ; T i Tk
Procese lente: G f 1 ( s ) =
kf
1 + sT f
G f 2 (s) =
kf
(1 + sT )(1 + sT )
f1
G f 3 (s) =
f2
kf
(1 + sT )(1 + sT ) (1 + sT )
f1
G f 4 (s) =
G f 5 (s) =
; T f1 > T f2
Kf
f3
f2
s (1 + sT f
; T f1 > T f2 > T f3
Kf
)(
s 1 + sT f1 1 + sT f2
; T f1 > T f2
Proces:
Proiectare : polii procesului compensai de zerourile regulatorului astfel nct:
Criteriul modului (Modulus Optimum) = BO (Betrags optimum)
Gd op ( s ) =
1
; T f = T sau T f = mim
i T fi
i
2T f s (1 + sT f )
( )
1 + 4T f s
8T s (1 + sT f )
2 2
f
( )
; T f = T sau T f = mim T fi
i
1
2T f
= 0.5
1 + 4T f s
1 + 4T f s
=
p = 1
SO G0 ( s ) = 3 3
3
8T f s + 8T 2 f s 2 + 4T f s + 1 (2T f s + 1) 4T f2 s 2 + 2T f s + 1
2T f
1
z=
4T f
% = 43%
r=
bloc integrator pe canalul referinei
t s = 11T f
n =
G R ( s ) = G d op ( s )
GF
G1
R
I
Obs.
BO
G2
PI
BO
G3
PID
BO
G4
BO
G5
PD
BO
1
G f (s)
KRKf
Ti
0.5
Tf
T f1
Tf
2T f 2
T f1 + T f 2
Td
T f1 + T f 2
2T f 3
T f1 T f 2
T f1 + T f 2
1
2T f
1
2T f
G2
PI
SO
A1
G3
PID
SO
A1
G4
PI
SO
G5
PID
SO
T f1
2T f 2
T f1 T f 2 + 4T f 3
8T f2
3
1
2T f
T f1 + 4T f 2
8T f2
Nota: A1 1+ sT f 1 sT f 1
T f1
4T f
T f 2 + 4T f 3
4T f 2 T f 3
T f 2 + 4T f 3
4T f
T f 1 + 4T f 2
4T f1 T f 2
T f1 + 4T f 2
3 3 Autoacordarea
3.3
A
d
regulatoarelor
l
l PID
Modele de procese
Metode de acordare
Procedura de acordare automat:
(i) genereaz o perturbare
t b a procesului
l i
(ii) evalueaz rspunsul la perturbaie
(iii) calculeaz parametrii regulatorului
Perturbaie la intrarea procesului se aplic:
,
,
,
Evaluare se determin un model al procesului
Autoacordare = acordare automat la cererea operatorului (tuning on demand one-shot tuning)
R l
Regulator
cu p = algoritm
l i PID + tuner (dispozitiv
(di
i i de
d acordare
d automat)
)
Tuner cunotine despre proces
- rspuns tranzitoriu
Metode de autoacordare - metode bazate pe model
- rspuns la frecven
- estimare parametri
- metode bazate pe reguli reguli utilizate de operator
: procesul n repaus
: impuls integrator n proces
(pant maxim)
y
kf
0.63 kf
y
kf =
u
Tf
A0
A1
L + Tf
A
Tf + L = 0
kf
A
Tf = 1 e
kf
t
Metode
M t d b
bazate
t pe raspunsull lla frecventa
f
t
Metoda Astrom-Hagglund bazat pe releu
d
r
u
Proces
PID
perioada oscilaiilor T0
amplitudinea erorii a
se calculeaz K c =
Observaie:
4d
a
(K c , T0 )
K R , Ti , Td
u
d
r +
_
Gf(s)
-d
u (t ) =
4d
1
1
a =
4d
G f ( j0 ) Kc =
1
Gf ( j0)
4d
Im
N y q u is t D ia g r a m
-1 , j 0
G f ( j 0 )
Re
1
N( a )
G f ( j )
3 3 2 Metode
3.3.2
M t d bazate
b t pe reguli
li
Acordare = compromis ntre reglare rapid i reglare stabil
Reguli de acordare
KR
Ti
Td
3 4 Functii auxiliare
3.4.
3.4.1 Anti-windup
4. Sinteza convenional a
regulatoarelor
l t
l din
di SRA linili i
are,, continue
i monovariabile
z
z
z
Stabilitate
Problema reglrii
Performane
% imp %
(i)
(ii) tt tt
(iii) v v imp
imp
z
I.
II.
se aloc polii
p i
III.
G0(s)
.
1 G0(s)
1
G f (s)
()
Structura de reglare:
p
GR(s)
Regulator
+
Gf(s)
Proces
Gd ( s ) = GR ( s )G f ( s ),
x +
0 < <1
4.1.2 Relaii
ntre performane
p
i
repartiia
p
polilor
p
pentru sistemul de ordinul II
z
mrimii de intrare:
z suprareglarea:
= e 1
2
ln 0.05 1 2
durata regimului tranzitoriu: tt =
n
0,5 0.8 tt
pentru:
gradul de amortizare:
lrgimea de band:
2
2 =
=e
1
2
1 2
B = n 1 2 2 + 2 4 2 + 4 4
eroare staionar:
p = 0 G0 (0) = 1
eroarea de vitez:
v =
1
1 2
+
=
p1 p2 n
Funcia de transfer
n2
(s + z )
z
G03 (s ) = 2
=
1 +
s + 2 n s + n2
s
G02 (s )
z
Rspunsul
p
sistemului
de ordinul II
cu zerou
suplimentar
Banda de trecere
Scade
S
d d
durata regimului
i l i tranzitoriu
i i
Crete suprareglarea
Gradul de amortizare nu se modific
Scade eroarea la vitez
Crete banda de trecere
S d excesull poli-zerouri
Scade
li
i all ff.d.t
d t n circuit
i it nchis
hi
4.1.4 Modificarea p
performanelor
prin
p
introducerea
unui pol suplimentar
z
Funcia de transfer
n2 p3
G04 (s ) = 2
(s + 2 n s + n2 )(s + p3 )
z
Banda de trecere
Crete suprareglarea
C
l
Crete durata regimului tranzitoriu
Crete
g
gradul de amortizare
Crete eroarea de vitez
Scade banda de trecere
C t excesull poli-zerouri
Crete
li
i
Funcia de transfer:
p3
(s + z )
z
G 05 (s ) = 2
,
s + 2 n s + n2 (s + p 3 )
n2
sau
unde:
p3 s + z
= G02 (s )G EAI (s )
z s + p3
p s+z
G EAI (s ) = 3
z s + p3
G05 (s ) = G02 (s )
Rspunsul
indicial al EAI
4.1.5 Modificarea p
performanelor
prin
p
introducerea
unui ansamblu pol-zero
p3
1,05
z
2
1 1
=
+
,
n p3 z
1,01
vimp
i
Proiectarea p
pe baza caracteristicilor amplitudinep
faz Gd(j) a sistemului deschis (locul de transfer)
4.2.1 Sinteza p
pe caracteristica asimptotic
p
amplitudine-pulsaie
I
I.
imp imp =
1.274 + imp
4.2.1 Sinteza p
pe caracteristica asimptotic
p
amplitudine-pulsaie
Caracteristica P()
1.454
4.2.1 Sinteza p
pe caracteristica asimptotic
p
amplitudine-pulsaie
tt =
8 10
aleg
aleg
pentru
d
[0.2,0.5]
0
[0.2 0.5] 0 =
[0.2 0.5]
Din graficul
( t , ) t
t = 0tt
0 =
8 10
tt
t
tt
4.2.1 Sinteza p
pe caracteristica asimptotic
p
amplitudine-pulsaie
Transpunerea parametrilor P(0)=1, Pmax ,0 si a
performantei vimp pe caracteristicile logaritmice ale
f.d.t. n circuit deschis Gd(j)
II.
a.
Gd ( ) = kd
jf
dB d
dB
p = 0 d = 1
vimp k d = k v =
k
Gd ( ) = vimp
jf
dB
dB
k vimp
4.2.1 Sinteza p
pe caracteristica asimptotic
p
amplitudine-pulsaie
Zona de medie frecven delimitat de:
b
b.
P( t ) =
1
2
0 t P( t ) 0 d Pmax
0 t P( t )
t
=
P( t ) = Pmax 0
0 d
0 (1 )
Pmax
1
t
1
= Pmax 0
t = 0 1
0 (1 )
2
2 Pmax
Adesea se utilizeaz:
t = (0.6 0.9 ) 0
P=Pmax
P= - P min
P1
P2
x
O2 R2
x
O1
R1
G d(j )
1 2P
1
C =
,0 , R =
2 P 1
2(P 1)
22P
Pmax 1
1
OO1 =
, R1 =
2(Pmax 1)
2(Pmax 1)
2 Pmax 1
1
OO2 =
, R2 =
2 Pmax
2 Pmax
R1
OO1
R2
OO2
= max
2(Pmax 1) 2(Pmax 1) Pmax 1
2 Pmax 1
Pmax 1
1
OP2 = OO2 R2 =
2 Pmax
2 Pmax
Pmax
1
OP1 = R1 + OO1 =
rezerva de amplitudine
L = lg 20 OP1 = lg 20 OP2 = 20 lg
Pmax
Pmax 1
rezerva de faz
sin =
R1
OO1
1
2 Pmax 1
L [Gd ( )]dB L
+ d ( ) 0
c.
( p z )G
= ( p z )Gd ( p z )G f 0
5. STRUCTURI COMPLEXE DE
REGLARE
SRA convenionale: - o singur variabil de comand
- o singur mrime reglat
- regulatoare
l
PID.
SRA complexe :: mai multe mrimi de comand
- mai multe variabile msurte
- regulatoare
g
PID
- filtre liniare
- neliniariti statice.
Gf (s)
Rejecia perturbaiei p
+ y
Procesul
dou intrri:
-comanda u
-perturbaia
p
msurabil p
o ieire:
-mrimea reglat y.
Y ( s) = G f ( s)U ( s) + G p ( s) P( s)
(5.1)
Y ( s) = [G p ( s) + G ff ( s)G f ( s)]P( s)
(5.2)
G p ( s)
(5.3)
G f (s)
kp
G f ( s) =
1 + sT p
G ff ( s ) =
kf
(5 4)
(5.4)
1 + sT f
k p (1 + sT f )
(5 5)
(5.5)
k f (1 + sTp )
Gff (s)
up
r +
_
GR(s)
ur +
Gp(s)
Gf 1(s)
pn
+
Gf 2(s)
(5.6)
Notaii:
G0 ( s ) =
G f ( s) = G f1 ( s)G f 2 ( s)
GR ( s )G f ( s )
(5.7)
1 + GR ( s )G f ( s )
G0 p ( s ) =
G p ( s )G f2 ( s ) + G ff ( s )G f ( s )
1 + GR ( s )G f ( s )
G ff ( s ) =
Gp (s)
(5.9)
G f1 ( s )
Gref (s)
+
_
GR (s)
p
+
u+
Gf (s)
n
+
G R ( s )G f ( s )
1 + G R ( s )G f ( s )
Gref ( s )
(5 10)
(5.10)
G f ((s )
1 + G R ( s )G f ( s )
(
(5.11)
)
1
1 + G R ( s )G f ( s )
(5.12)
Procedura de proiectare:
Se proiecteaz:
1. Regulatorul
g
GR((s)) a.. s fie rejectate
j
efectele perturbaiei
p
de sarcin
2. Regulatorul Gref(s) impunndu-se dependena y fa de r prin f.d.t. model Gm (s).
n (5.10) G0(s)=Gm(s) :
Gref ( s ) = Gm ( s )
1 + GR ( s )G f ( s )
(5.13)
GR ( s )G f ( s )
Gref (s)
+
_
GR1 (s)
+
_
p
+
Gf (s)
n
+
GR2 (s)
()
GR1 ( s )G f ( s )
1 + [GR1 ( s ) + GR2 ( s )]G f ( s )
(5.14)
(5 14)
Gref ( s )
n ((5.14)) G0((s)=G
) m((s)) Gref ( s ) = Gm ( s )
((5.15))
Gm(s) ym +
_
uff
+
GR(s)
p
u
Gf (s)
n
+ y
G ff ( s )G f ( s ) + G R ( s )G f ( s )Gm ( s )
(5.16)
1 + G f ( s )G R ( s )
n (5.16) G0(s)=Gm(s)
G ff ( s ) =
(5 17)
(5.17)
Gm ( s )
G f (s)
Regulatorul
g
feedforward dinamica invers a p
procesului.
kf
G f (s) =
1 + sT f
kf
1 + sT f
1 + sT f
k f 1 + sT f N
e sL
(5.18)
(5.19)
sz
P( s)
G f 1 ( s )
P( s)
s+z
G f 1 ( s )
rspunsului
p
la variaia
referinei
r
Reglarea feedforward: 9 pperformanele
9 rejecteaz perturbaiile msurabile
Gm(s) ym +
_
GR(s) ue +
+
uff
+
Gff 2(s)
Gp(s)
u
Gf 1(s)
+ y
G ff 2
Regulatorul G ff
1
GR
GR1(s)
u1 +
_
GR2(s)
Gf 1(s)
Gf 2(s)
Gffa((s))
ys
Gf b((s))
bucl intern
bucl extern
(5.21)
Ys ( s ) = GR2 ( s )G f1 ( s )G f a ( s ) S 2 ( s )U1 ( s ) + G f a ( s ) S 2 ( s ) P ( s )
S 2 (s) =
1
1 + G R 2 ( s )G f1 ( s )G f a ( s )
(5.22)
(5.23)
unde: G f ( s) = G f1 ( s)G f 2 ( s)
(5.24)
5.23, 5.24
unde G02 ( s ) =
G R2 ( s )G f1 ( s )G f a ( s )
1 + G R2 ( s )G f1 ( s )G f a ( s )
(5.25)
G R2
- de tip P sau PD
- componenta I - rejecteaz perturbaiile
- suprareglri n bucla extern
9alterarea performanelor BE
se elimin I i
kR al GR1
mecanisme anti-windup.
a
a.
PI
Proces
y1
y2
b.
a y2 +
e
_
PI
Proces
y1
(5.26)
y (t )
e(t ) = 0 1 = a
y2 (t )
(5.27)
5.3.1 Reglarea
g
raportului
p
Combustibil
q2
MAS
r
a
Aer
PI
REF
Arztor
REF
MAS 1 RPI
MAS 2
q1
5.3.2 Reglarea
g
cu selector
Selector dispozitiv neliniar static cu mai multe intrri i o ieire.
Tipuri de selectare: - maximum (MAX)
Val. max/min a semnalelor de intrare.
intrare
- minimum
i i
(MIN) Val
Reglarea cu selector:
9 mrimea principal reglat;
9 maii multe
l mrimi
i i secundare
d meninute
i
n anumite
i game impuse.
i
Caracteristici
- mai multe regulatoare
g
i un selector care-l alege
g pe
p cel mai ppotrivit;
- o bucl de reglare funcioneaz la un anumit moment de timp;
- pot aprea probleme la comutarea regulatoarelor.
5.3.2 Reglarea
g
cu selector
MAS
xmax
r
REF
MAS
REF
xmin
MAS
Rmax
Rmin
un
up
M
A
X
M u
Gf 1((s))
I
N
ue
REF
x [x min , x max ]
Gf 2((s))
5.3.3 Reglarea
g
cu divizarea gamei
g
Reglarea cu divizarea gamei:
9 o singur mrime reglat;
9 mai multe variabile de comand.
comand
Caracteristici
- Se folosete cnd mrimea de comand controleaz o valv la ieirea creia
debitul are o variaie ntr-o gam larg ;
- Gama debitului este separat n mai multe intervale, fiecare fiind controlat
cu o valv.
u
Deschis
EE nclzire
EE rcire
i
nchis
y
1
0.5
5.4 Reglarea
g
cu compensarea
p
timpului
p
mort
Procese cu timp mort : G f ( s ) = G ( s )e s
Regulator
g
r +
_
(5.28)
Proces
u
GR(s)
G(s)e-s
Gm(s)
e-sm
predictor Smith
Modelul procesului:
Partea fixat:
G f m ( s) = G m ( s)e sm
(5.29)
G ( s )e s + G m ( s )(1 e sm )
(5.30)
6. Proiectarea sistemelor de
reglare
l
numeric
i pe b
baza
modelelor intrare-ieire
z
Structura de reglare:
b1 z 1 + ... + bnB z nB
Y ( z ) B ( z 1 ) d
G f ( z) =
=
z =
z d
nA
1
1
U ( z ) A( z )
1 + a1 z + ... + an A z
b1 z 1 + ... + bm z m
1 + a1 z 1 + ... + am z m
Polinomul caracteristic:
Pc 0 ( z 1 ) = (1 z 1 )(1 + a1 z 1 +...+ an z m ) +
+ (q0 + q1 z 1 + q 2 z 2 )(b1 z 1 +...+ bm z m )
( z i )
Pcd ( z ) = ( z + 1 z + 2 )
2
i=3
1 = 2e nT cos nT 1 2
2 = e 2 T
n
i = e pT , i = 3, m
unde:
p 5 n
q0 + q1 z 1 + q2 z 2
(1 z 1 )(1 d z 1 )
F.d.t
F
d t a regulatorului
netipizat
1
Q
Q( z 1 ) q0 + q1 z + ... + qnQ z
GR ( z ) =
=
P ( z 1 ) 1 + p1 z 1 + ... + pnP z nP
Polinomul caracteristic:
Pc0 ( z 1 ) = (1 + p1 z 1 + ... + pn p z
np
)(1 + a1 z 1 + ... + an z n ) +
nQ
)(b1 z 1 + ... + bn z n ) z d
F d t n circuit nchis:
F.d.t.
Q ( z 1 ) B ( z 1 ) z d
=
G0 ( z ) =
1 + GR ( z )G f ( z ) P ( z 1 ) A( z 1 ) + Q ( z 1 ) B ( z 1 ) z d
GR ( z )G f ( z )
Problema
reglarii
np
Se alege: nQ = n i nP = n + d nP = 2n + d
cd
2 n+ d
( z i )
i=3
1 = 2e nT cos nT 1 2
2 = e 2 T
n
i = e pT , i = 3, 2n + d
z
unde:
p 5 n
[]
G f ( z) =
B ( z 1 )
b1 z 1 + ... + bnB z n
A( z 1 ) 1 + a1 z 1 + ... + anA z n
, nA = nB = n
Q( z 1 ) q0 + q1 z 1 + ... + qn z n
=
P ( z 1 ) 1 + p1 z 1 + ... + pn z n
1
1
2 n
Polinomul caracteristic dorit: Pcd ( z ) = 1 + 1 z +...+ 2 n z
Regulator netipizat:
GR ( z ) =
Parametrii regulatorului:
an
a
n1
a1
0
0
0
0
0
an
a2
a1
0
0
0
1
0
0
an
an1
an2
a1
0
1
Pcd ( z 1 ) Pc 0 ( z 1 ) Pcd ( z 1 ) A( z 1 ) B ( z 1 ) + B ( z 1 )Q ( z 1 )
bn
0
bn1 bn
b1 b2
0
0
0
0
0
b1
0
0
0
0
A (matricea Sylvester)
0
0
bn
bn1
bn2
b1
0
0
2 n
pn
2 n1
p
n1 n+1
p1
bn
n an
;
qn =
a
bn1
1
n
n
qn1
2 a2
b2
q1
b1
a
q0 1 1
1
0
0
0
0
= A-1C
Algoritmi dead-beat
z
z
F d t a prii fixate:
F.d.t.
b1 z 1 +...+ bm z m
G f (z ) =
1 + a1 z 1 +...+ a m z m
1
R( z ) =
1
1 z 1
regimul stationar
Evoluia
mrimii de comand:
u ( z ) = u (0) + u (1) + ... + u ( m 1) z ( m 1) + u m z m + u m z ( m +1) + ...
F d t G0(z-11):
F.d.t.
Yd ( z )
1
= (1 z ) y (k ) z k
G0 ( z ) =
R( z )
k =1
1
G0 ( z 1 ) = (1 z 1 ) y (1) z 1 + ... + y (m 1) z ( m 1) + z m
1 z 1
Se introduc notaiile:
p1 = y (1)
p2 = y (2) y (1)
1
1
1
2
m
G0 ( z ) = P ( z ) = p1 z + p2 z + ... pm z
...............
pm = 1 y (m 1)
m
p
i =1
=1
Algoritmul
g
de reglare:
g
G0 ( z 1 ) A( z 1 )
P( z 1 ) A( z 1 )
1
GR ( z ) = Gd ( z )
=
G f ( z 1 ) 1 G0 ( z 1 ) B( z 1 ) 1 P( z 1 ) B( z 1 )
1
Observaii:
z
z
z
u (0) =
p1
b1
Q( z 1 ) =
U (z )
=
R( z 1 )
= q0 + q1 z 1 +...+ qm z m
q0 = u (0)
unde:
q1 = u (1) u (0)
...............
q
i =0
i=0
= um
q m = u m u (m 1)
Rezult ff.d.t.
d t a prii fixate:
B( z 1 ) Y ( z ) G 0 ( z 1 ) R ( z ) P( z 1 )
=
=
=
G f (z ) =
1
1
U
(
z
)
A( z )
Q( z ) R ( z ) Q( z 1 )
1
F.d.t. a regulatorului:
1
P ( z 1 ) Q ( z 1 )
Q( z 1 )
G R ( z ) = Gd ( z )
=
=
G f ( z 1 ) 1 P ( z 1 ) P ( z 1 ) 1 P ( z 1 )
1
p
p1 1
z + ... + m z m
q
q0
= 0
q
q
1 + 1 z 1 + ... + m z m
q0
q0
Parametri de acord:
qi = ai q0 i = 1, m
p j = b j q0 j = 1, m
p = b q
j =1
j =1
= 1 q0 =
1
b1 + b2 + ... + bm
F d t a regulatorului:
F.d.t.
P( z 1 ) = q0 B( z 1 )
q0 A( z 1 )
1
GR ( z ) =
1 q0 B( z 1 )
Q( z 1 ) = q0 A( z 1 )
6 2 2 Algoritmul
6.2.2
Al
it l dead-beat
d d b t extins
ti
z
6 2 2 Algoritmul
6.2.2
Al
it l dead-beat
d d b t extins
ti
z
qm = qm qm 1
qm +1 = qm
p m = p m p m 1
p m +1 = p m
Comanda iniial:
u (0) = q0 = q0
m
j =1
j =1
( 1) b j q0 = 1 (q0 q0 ) b j = 1
q0 = q0
b
j =1
6 2 2 Algoritmul
6.2.2
Al
it l dead-beat
d d b t extins
ti
z
q1 = q0 (a1 1) +
1
bj
p1 = q0b1
a
q2 = q0 (a2 a1 ) + 1
bj
p2 = q0 (b2 b1 ) +
b1
bj
j
a
qm = q0 (am am 1 ) + m 1
bj
b
pm = q0 (bm bm 1 ) + m 1
bj
1
qm +1 = am q0
j b j
1
pm +1 = bm q0
j b j
6 2 2 Algoritmul
6.2.2
Al
it l dead-beat
d d b t extins
ti
z
F d t a regulatorului:
F.d.t.
q0 + q1 z 1 + ... + qm +1 z ( m +1)
Q( z 1 )
GR ( z ) =
=
1 P( z 1 ) 1 p1 z 1 ... pm +1 z ( m +1)
1
u (1) = q1 + q0 = a1 q0 +
b
j j
u (0) = q 0
1
1
1 a1 b j
j
6 2 2 Algoritmul
6.2.2
Al
it l dead-beat
d d b t extins
ti
z
6 2 3 Metoda
6.2.3
M t d timpului
ti
l i minim
i i
z
Date iniiale:
z
Semnal de intrare:
M ( z 1 )
R( z ) =
,
(1 z 1 ) N
1
- semnal
1 z 1
Tz 1
1
1
1
M ( z ) = T z , N = 2 R( z ) =
- semnal
(1 z 1 ) 2
eroarea staionar
z
z
treapt
ramp
6 2 3 Metoda
6.2.3
M t d timpului
ti
l i minim
i i
z
( z ) = R ( z ) Y ( z ) = R ( z )[1 G0 ( z 1 )]
M ( z 1 )
st = lim(1 z ) R( z ) 1 G0 ( z ) = lim(1 z )
1 G0 ( z 1 ) .
N
1
z 1
z 1
(1 z )
1
st = 0 1 G0 ( z 1 ) = (1 z 1 ) N F ( z 1 )
z N ( z 1) N F ( z 1 )
unde: G0 ( z ) =
.
zN
1
Ecuaia caracteristic:
z P = 0, p N
6 2 3 Metoda
6.2.3
M t d timpului
ti
l i minim
i i
z
r treapt:
r ramp:
G0 ( z 1 ) = z 1
G0 ( z 1 ) = 2 z 1 z 2
F.d.t. a regulatorului:
G0 ( z 1 )
1
GR ( z ) =
1
1 G0 ( z ) G f ( z 1 )
1
7. Proiectarea sistemelor
multivariabile de reglare numeric
pe baza modelelor intrare-ieire
p
Reglarea
noninteractiva
EE
Proces
tehnologic
Traductoare
de
masura
SMV
P
u1
u2
.
.
.
um
y1
y2
.
.
.
yp
y1
.
.
.
yp
unde:
G f 11 ( z ) G f 12 ( z )
G ( z ) G ( z )
Y( z ) = y1 ( z ), y 2 ( z ),..., y p ( z )
f 21
f 22
G f ( z) =
T
U( z ) = [u1 ( z ),u 2 ( z ),...,u m ( z )] ,
...
...
G fp1 ( z ) G fp 2 ( z )
... G f 1m ( z )
... G f 2 m ( z )
...
...
... G fpm ( z )
G R (z)
G f (z)
G f (z)
G R (z)
Forma canonic P:
u1
G 11
y1
+
+
G21
G
G ( z ) = 11
G12 G22
G 12
Y ( z ) = G ( z )U ( z )
G 21
u2
G 22
y2
unde:
Y( z ) = [ y1 y2 ]T
U( z ) = [u1 u2 ]T
Forma canonic V:
+
G 11
y1
0
G
0
G k ( z ) = 11
,
G
=
h G
0 G22
12
G 12
G 21
u2
G 22
y1 G11 0 u1 0
y = 0 G u + G
22 2
2
12
y2
G21 y1
0 y2
G21
0
Y( z ) = G k ( z )U( z ) + G k ( z )G h ( z )Y( z )
1
Y( z ) = [I - G k ( z )G h ( z )] G k ( z )U( z )
_
1
GR11
u1
y1
Gf11
Gf12
Gf21
r2
+
_
GR22
u2
Gf22
Regulatoare
monovariabile
y2
Proces
r2
+
_
GR11
u1
+
Gf11
GR12
Gf12
GR21
Gf21
GR22
RMV
+
u2
Gf22
Proces
y1
+
+
+
+
y2
+
_
GR
Gf
y = (I + G f G R ) G f G R r + (I + G f G R ) G p p
1
y = G 0r + G 0 p p
Tipuri de decuplri:
z
7 2 1 Decuplare
7.2.1
D
l
n circuit
i
it deschis
d
hi
z
r1
M.d.t. a regulatorului:
G R = G 1
f Gd =
0
,
Gd 22
r2
adj G f
Gd .
det G f
GR1
GR2
u1
u2
F d t ale
F.d.t.
l sistemelor
i t
l d
decuplate:
l t
Gd11 = G R1 G f11
Gd 22 = G R2 G f 22
7 2 1 Decuplare
7.2.1
D
l
n circuit
i
it deschis
d
hi
z
G f11 G f 22
1
G f12 G f 21
G f11 G f 22
1
G f12 G f 21
Regulatoarele principale:
GR11 =
0
G f 22 G f 21 Gd11
G f11 0 Gd 22
f12
G f 22 G f11 GR1
G f11 G f 22 G f12 G f 21
; GR22 =
G f11 G f 22 GR2
G f11 G f 22 G f12 G f 21
Regulatoarele de decuplare:
GR12 =
G f 21 G f11 GR1
G f11 G f 22 G f12 G f 21
; GR21 =
G f12 G f 22 GR2
G f11 G f 22 G f12 G f 21
Gf11
Gf22
y1
y2
7 2 1 Decuplare
7.2.1
D
l
n circuit
i
it deschis
d
hi
z
r2
+
_
GR1
GR2
u1
+
GR12
Gf12
GR21
Gf21
+
u2
Regulatoare
de decuplare
Regulatoare
principale
Gf11
Gf22
y1
+
+
y2
Proces
RMV
7 2 1 Decuplare
7.2.1
D
l
n circuit
i
it deschis
d
hi
z
0 GR2
0 GR21
1 0
unde: G k =
,G h =
0
0 1
GR12
M d t a RMV
M.d.t.
RMV:
G R = G Rd G R p = [I G h ]1 G R p
1
1
[I G h ] G R p = G f G d
G d = G f ( z )G R ( z )
G h = I G R p G -d1G f ,
sau:
0
G
R12
GR21 1 0 GR1
=
0 0 1 0
1
0 Gd11
GR2
0
0
G
f11
1 G f12
Gd 22
G f 21
.
G f 22
7 2 1 Decuplare
7.2.1
D
l
n circuit
i
it deschis
d
hi
z
Regulatoarele de decuplare:
GR12 =
G f12
G f22
GR21 =
G f21
G f11
Regulatoarele
R
l t
l principale
i i l se proiecteaz
i t
7 2 1 Decuplare
7.2.1
D
l
n circuit
i
it deschis
d
hi
z
r2
+
_
GR1
u1
Gf11
GR12
Gf 12
GR21
Gf 21
+
GR2
u2
Regulatoare
de decuplare
Regulatoare
principale
RMV
Proces
Gf22
y1
y2
7 2 1 Decuplare
7.2.1
D
l
n circuit
i
it deschis
d
hi
1
G R = G Rd G R p =
GR12
0
GR2
M.d.t. a p
prii
fixate:
G 11
unde: G f = f
0
k
GR12
GR21 GR1
1 0
G f
11
0
GR21 GR1
1 0
G f = I G fk G fh
0
0 G f 21
;G fh =
G f 22
0
G f12
G fk ,
0
0 1 0
1 G f11
1
= G f Gd =
GR2
1 G f22 0 1
0
0 0
G f11 G f12
G f21 Gd11
0 0
Gd22
Regulatoarele
g
de decuplare:
p
GR12 = G f11 G f12 , GR21 = G f22 G f21
7 2 2 Decuplare
7.2.2
D
l
n circuit
i
it nchis
hi
z
r
1
G R = G f 1G 0 (I G 0 ) 1
+
_
G R (z)
G f (z)
7 2 2 Decuplare
7.2.2
D
l
n circuit
i
it nchis
hi
z
G f (z)
_
u
G R (z)
x
f
Df
z
f
Cf
y
f
x f (k + 1 ) = f x f (k ) + f u(k ) + G f p(k )
( f ): y f (k ) = C f x f (k )
z f ( k ) = D f x f ( k )
n
unde : x f R f starea procesului, u R m marimea de comanda ,
z f R q marimea de calitate
Eroarea de calitate:
z (k ) = z r (k ) z f (k ) = z (k )
Eroarea de msur:
y (k ) = y r (k ) y f (k ) = y (k )
x f (k + 1 ) = f x f (k ) + f u(k ) + G f p(k )
( f ) : y (k ) = y r (k ) y f (k )
z (k ) = z r (k ) z f (k )
Ce x e (k )
( e ) : zy r ((kk)) == D
e x e (k )
r
p(k )=G e x e (k )
( e ) U1+ (0)
U 1+ (0) = z z C, z > 1
x f (k + 1) = f x f (k ) + f u(k ) + 2 x e (k )
z (k ) = D f x f (k ) + De x e (k )
unde:
x (k )
x( k ) = f
,x n , n = n f + ne
x e (k )
2
= f
, = f , C = C f
0
0 e
Ce , D = D f
81F
8.1
Formularea
l
problemei
bl
i
z
xR R
nR
starea regulatorului
y
(
k
)
=
C
x
(
k
)
+
C
f f
e x e (k )
z (k ) = D f x f (k ) + De x e (k )
De
81F
8.1
Formularea
l
problemei
bl
i
Modelul sistemului de reglare n circuit nchis:
x f (k + 1) = ( f - f G R C f )x f (k ) + f FR x R (k ) +
+ ( 2 + f G R Ce )x e (k )
( f + e + R ): x R (k + 1) = RC f x f (k ) + R x R (k ) + RCe xe (k )
x e (k + 1)= e x e (k )
z ( k ) = D x ( k ) + D x ( k )
f f
e e
x s (k + 1) = s x s (k ) + s x e (k )
( s ) : x e (k + 1) = e x e (k )
z (k ) = D s x s (k ) + De x e (k )
x (k )
unde: x s (k ) = f , x s ns , ns = n f + nR
x R (k )
f f G R C f f FR
+ f G R Ce
, s = 2
s =
, D s = D f
R
R Ce
RC f
81F
8.1
Formularea
l
problemei
bl
i
Structura sistemului de reglare:
xe(k+1)= c xe (k)
yr
y
-
+
De
z
e
Ce
R
+
xe
x
x (k+1) = RxR(k)+ y (k)
R
R
f
R
FR
G
R
u
+
Df
xf
Cf
81F
8.1
Formularea
l
problemei
bl
i
z
Proprietatea de reglare:
( R) lim z (k ) = 0, x s (0) ns
k
Proprietatea de stabilitate:
Sinteza
Si
t
legii
l ii d
de reglare
l
presupunnd
d accesibil
ibil starea
t
sistemului
Estimarea strii sistemului compact
x (k + 1) = e x e (k )
( s ) : z(e k )
= D f x f ( k ) + De x e ( k )
u(k )
= F f x f (k ) + Fe x e (k )
x f (k + 1) = ( f + f F f )x f (k ) + ( 2 + f Fe )x e (k )
( s ) : x e (k + 1) = e x e (k )
z (k ) = D f x f (k ) + De x e (k )
z
( R)
R = ... n 1
S calculeaz
Se
l l
hT care s
verifice
ifi relaia:
l i
h " = [0 0 " 1]
T
n 1
hT = 0
hT = 0
"
hT n 1 = 1
Se calculeaz produsele: hT ( + f T ) , i = 0, n
i
hT = hT
h
hT
( + f ) = h
( + f ) = h ( + f ) = h
T
# a1
# a2
""""""""""""""""
hT ( + ff T )
n 1
# a3
"
= hT n 2 ( + ff T ) = hT n 1 # an
hT ( + f T ) = hT n 1 ( + f T ) = hT n + f T
n
#1
n
n
k 1
hT + ff T + ak + ff T = hT n + ak k 1 + f T
k =1
k =1
Pc ( + f T )
Pc ( )
C f
Conform
teoremei C
Cayley-Hamilton rezult:
Pc + f T = 0 0 = hT Pc () + f T f T = hT Pc ()
Algoritmul
g
de calcul al matricei fT:
z
Pc ( z ) = ( z 2 + 1 z + 2 ) ( z i ) = a1 + a2 z + " + an z n 1 + z n =
i =3
1 = 2e nT cos nT 1 2 ;
ak z k 1
k =1
2 = e 2 nT
i = e ( 2 5) nT
z
Se determin: f T = hT Pc ( )
Cazul multivariabil:
z
))
o + 1f T = + Fo + gf T =
Matricea
F f = Fo + gf T
x e (k + 1) = e x e (k )
z (k ) = D x (k ) + D x (k )
f f
e e
x f ( k ) = x t ( k ) + Vx
V e (k )
x t (k + 1) + Vx e (k + 1) = ( f + f F f )[x t (k ) + Vx e (k )] + ( 2 + f Fe )x e (k )
x e (k + 1) = e x e (k )
z (k ) = D f [x t (k ) + Vx e (k )] + De x e (k )
[
]
x t ( k + 1) = ( f + f F f )x t (k ) + ( f + f F f )V + 2 + f Fe V e x e (k )
z (k ) = D f x t (k ) + D f V + De x e (k )
( f + f F f )V + 2 + f Fe V e = 0
n n
Daca V f e Fe
D f V + De = 0
Se testeaz
S
controlabilitatea
l bili
perechii
hii ( f, f)
Se determin matricea Ff
Se determin matricele V
i Fe
Se construiete matricea de comand F
Problema reglrii:
x i (k + 1) = x i (k ) + y (k )
lim y (k ) = 0
k
x i (k + 1) C f I x i (k ) 0
I
y ( k ) = C 0 x f ( k ) + y ( k )
f
r
x (k )
Se introduc notaiile:
f
x f (k )
, 1 =
x1 (k ) =
x i (k )
C f
W = 0 , C = C 0
f
I 1
0
, 1 = f
I
0
yr +
xi
Fi
u
+
x
f
Cf
y
f
83E
8.3
Estimarea
ti
strii
t ii
z
Structura estimatorului n
bucl nchis:
x(0)
Partea fixata
y (k)
( , ,C )
u (k)
^x(0)
Model
^
( , ,C )
^y (k)
x^ ((k))
Tipuri de estimatoare:
z
z
Cu predicie
Fr predicie
831E
8.3.1
Estimatorul
ti t
l complet
l t
z
Estimatorul cu predicie
Modelul estimatorului:
x (k + 1) = x (k ) + u (k ) + L[y (k ) y (k )]
y (k ) = Cx (k )
x (k + 1) = ( LC)x (k ) + u(k ) + Ly (k )
y (k ) = Cx (k )
u (k
(k-1)
1)
y(k-1) +
-
+ ^
x(k)
^
x(k-1)
z-1 I
^
x(k)
C
y^ (k)
Estimatorul fr predicie:
x (k ) + L[y (k ) ~
y (k )]
x (k ) = ~
~
x (k ) = x (k 1) + u(k )
~
~
y (k ) = Cx (k )
x (k ) = ( LC )x (k 1) + ( - LC )u(k ) + Ly(k )
u (k)
y(k)
^
x(k)
z-1 I
+ x(k)
~
+
^
x(k)
C
Eroarea de predicie:
e( k ) = x( k ) x ( k ) e( k + 1) = ( LC )e( k )
Dinamica erorii:
( LC ) = *
(T + CT ( LT )) = *
T
( A) = ( A )
T ,R OT ,F f LT
( ) P ( )
AT = [0....01] OT
A = Pc ()O 1 [0....01]
~y (k)
8 3 2 Estimatorul
8.3.2
E ti t
l de
d ordin
di redus
d
z
+ u(k )
=
x b (k + 1) ba bb x b (k ) b
y (k ) = [I 0]x a (k )
xb (k )
"int rare"cunoscuta
x a (k + 1) aa x a (k ) a u(k ) = ab x b (k )
"masura"cunoscuta
8 3 2 Estimatorul
8.3.2
E ti t
l de
d ordin
di redus
d
z
y (k ) = Cx(k )
x (k + 1) + F - F x (k )
=
- LC e(k )
e(k + 1) 0
y(k ) = Cx (k )
zI - ( - LC)
sau
=0
yr
+
-
^x
f
Proces
Ff
+
^
^x(k+1)= ^x (k)+ u(k) x
L[y(k)-Cx(k)
+
^e
x
Fe
xe
y
f