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STRUCTURI COMPLEXE DE
REGLARE
SRA convenionale: - o singur variabil de comand
- o singur mrime reglat
- regulatoare PID.
SRA complexe :- mai multe mrimi de comand
- mai multe variabile msurte
- regulatoare PID
- filtre liniare
- neliniariti statice.
Gf (s)
Rejecia perturbaiei p
+ y
Procesul
dou intrri:
-comanda u
-perturbaia msurabil p
o ieire:
-mrimea reglat y.
Y ( s )=G f (s )U ( s)+G p ( s) P (s )
Y ( s )=[G p ( s)+G ff ( s)G f (s )] P ( s)
(6.1)
(6.2)
G ff ( s)=
G p ( s)
(6.3)
G f ( s)
G p ( s)=
kp
1 +sT p
G ff ( s)=
G f (s )=
kf
(6.4)
1+sT f
k p (1 +sT f )
k f (1 +sT p )
(6.5)
Gff (s)
up
r +
_
GR(s)
ur +
Gp(s)
+
Gf 1(s)
pn
+
Gf 2(s)
(6.6)
Notaii:
G0 ( s ) =
G f (s )=G f ( s)G f ( s)
1
GR ( s )G f ( s )
1 + GR ( s )G f ( s )
G0 p ( s ) =
(6.7)
G p ( s)G f2 ( s ) + G ff ( s)G f ( s )
1 + GR ( s )G f ( s )
G ff ( s ) =
(6.8)
Gp (s)
G f1 ( s)
(6.9)
Gref (s)
+
_
GR (s)
u+
p
+
Gf (s)
n
+
G 0 ( s)=
G R ( s)G f ( s)
Gref ( s)
1 +G R ( s)G f ( s)
F.d.t n raport cu perturbaia de sarcin p:
G f(s)
G 0p( s)=
1+G R ( s)G f (s )
F.d.t n raport cu zgomotul de msur n:
1
G 0n ( s)=
1+G R (s )G f ( s)
(6.10)
(6.11)
(6.12)
Procedura de proiectare:
Se proiecteaz:
1. Regulatorul GR(s) a.. s fie rejectate efectele perturbaiei de sarcin
2. Regulatorul Gref(s) impunndu-se dependena y fa de r prin f.d.t. model Gm (s).
n (6.10) G0(s)=Gm(s) :
Gref ( s ) = Gm ( s )
1 + GR ( s )G f ( s)
GR ( s )G f ( s )
(6.13)
+
_
Gref (s)
GR1 (s)
+
_
p
+
Gf (s)
n
+
GR2 (s)
G 0 ( s )=
G R (s )G f ( s )
1
(6.14)
G ref ( s)
G R ( s )G f ( s )
1
(6.15)
Gm(s)
ym +
_
GR(s)
uff
+
p
u
Gf (s)
n
+ s
G 0 ( s)=
n (6.16) G0(s)=Gm(s)
G ff ( s )=
Regulatorul feedforward
Gm( s)
G f ( s)
(6.16)
(6.17)
kf
G f (s )=
1+sT f
G f 1 ( s) G +f ( s) =
kf
1+sT f
1 + sT f
k f 1 + sT f N
e sL
(6.18)
(6.19)
G f (s )=
s z
P ( s)
G1
f ( s )
P ( s)
s+z
G f ( s)
Gm(s) ym +
_
GR(s) ue +
+
uff
+
Gff 2(s)
Gp(s)
u
Gf 1(s)
+ y
G ff
Regulatorul
G ff
GR
Gm
GR1(s)
u1 +
_
GR2(s)
Gf 1(s)
Gf 2(s)
Gfa(s)
ys
Gf b(s)
bucl intern
bucl extern
G f ( slimiteaz
)
lrgimea de band a structurii de reglare .
b
(6.21)
(6.22)
(6.23)
Y ( s )=G f (s )U 1 (s )+G f ( s) P ( s)
(6.24)
G f ( s)=G 02 ( s)G f (s ),
G ( s)G f ( s)G f ( s)
unde G 02( s)= R
1+G R ( s)G f ( s )G f ( s )
e
(6.25)
GR
- de tip P sau PD
2
alterarea performanelor BE
se elimin I i
kR al G R
mecanisme anti-windup.
G f (s )=G( s )e
(6.28)
Proces
u
GR(s)
G(s)e-s
Gm(s)
e-sm
predictor Smith
Modelul procesului:
(6.29)
s m
Partea fixat:
G f ( s)=G m ( s)e
m
s m
G( s)e s +G m ( s)(1e
Proiectarea regulatorului
(6.30)