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Proiectarea sistemelor de
reglare numeric pe baza
modelelor intrare-ieire
z
Structura de reglare:
b1 z 1 + ... + bnB z nB
Y ( z ) B ( z 1 ) d
d
G f ( z) =
z
=
=
z
U ( z ) A( z 1 )
1 + a1 z 1 + ... + an A z n A
G f (z ) =
z
b1 z 1 + ... + bm z m
1 + a1 z 1 + ... + an z m
Polinomul caracteristic:
Pc 0 ( z 1 ) = (1 z 1 )(1 + a1 z 1 +...+ an z m ) +
+ (q0 + q1 z 1 + q2 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 + q 2 z 2
(1 z 1 )(1 d z 1 )
F.d.t a regulatorului
netipizat
nQ
Q( z ) q0 + q1 z + ... + qnQ z
=
GR ( z ) =
1
P ( z ) 1 + p1 z 1 + ... + pnP z nP
1
b1 z 1 + ... + bnB z nB
B( z ) d
d
z
=
z
, n A = nB = n
nA
1
1
A( z )
1 + a1 z + ... + an A z
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:
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 )
np
Problema
reglarii
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 )
1
b1 z 1 + ... + bnB z n
1
A( z ) 1 + a1 z + ... + anA z
, nA = nB = n
Q( z 1 ) q0 + q1 z 1 + ... + qn z n
GR ( z ) =
=
Regulator netipizat:
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
Parametrii regulatorului:
an
a
n1
a1
0
0
0
0
0
an
0
0
a2 an
a1 an1
0 an2
0
0
1
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
0
0
b1
0
0
b2 bn
b1 bn1
0 bn2
0
0
0
0
0
0
A (matricea Sylvester)
b1
0
0
0
2 n
p
0
2 n1
p
n
n+1
0
p1
bn
n an
;
qn =
bn1
a
qn1 n1 n1
2 a2
b2
q1
b1
1 a1
q0
0
1
= A-1C
Algoritmi dead-beat
z
z
1
m
b
z
+
...
+
b
z
m
G f ( z 1 ) = 1 1
1 + a1 z +...+ a m z m
1
R( z ) =
1 z 1
regimul stationar
F.d.t. G0(z-1):
Y
(
z
)
G0 ( z 1 ) = d
= (1 z 1 ) y (k ) z k
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 de reglare:
1
1
1
1
G
z
(
)
A
z
P
z
A
z
1
(
)
(
)
(
)
0
GR ( z 1 ) = Gd ( z 1 )
=
G f ( z 1 ) 1 G0 ( z 1 ) B( z 1 ) 1 P( z 1 ) B( z 1 )
Observaii:
z
z
z
p1
u (0) =
b1
Se reduce1ordinului regulatorului:
Q ( z 1 ) =
U (z )
=
1
R( z )
1
( m 1)
m
= (1 z ) u (0) + u (1) z + ... + u (m 1) z
+ u ( m) z
=
1
1 z
= q0 + q1 z 1 +...+ qm z m
1
q0 = u (0)
unde:
q1 = u (1) u (0)
...............
q m = u m u (m 1)
q
i =0
= um
1
1
1
(
)
(
)
G
z
R
z
(
)
(
)
(
)
B
z
Y
z
P
z
1
0
=
=
=
G f (z ) =
1
1
A( z ) U ( z ) Q( z ) R ( z ) Q( z 1 )
F.d.t. a regulatorului:
1
1
1
1
P
(
z
)
Q
(
z
)
Q
(
z
)
G R ( z 1 ) = Gd ( z 1 )
=
=
G f ( z 1 ) 1 P ( z 1 ) P ( z 1 ) 1 P ( z 1 )
b1 z 1 + ... + bm z m
1 + a1 z 1 + ... + a m z m
pm m
p1 1
z
z + ... +
q0
q0
=
qm m
q1 1
1 + z + ... +
z
q0
q0
Parametri de acord:
qi = ai q0 i = 1, m
p j = b j q0 j = 1, m
1
p j = b j q0 = 1 q0 =
b1 + b2 + ... + bm
j =1
j =1
z
F.d.t. a regulatorului:
1
P( z 1 ) = q0 B( z 1 )
q
A
(
z
)
1
0
GR ( z ) =
1
1
1 q0 B( z 1 )
Q( z ) = q0 A( 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
( 1) b j q0 = 1 (q0 q0 ) b j = 1
j =1
j =1
q0 = q 0
b
j =1
q1 = q0 (a1 1) +
1
bj
p1 = q0b1
q2 = q0 (a2 a1 ) +
a1
bj
b1
p2 = q0 (b2 b1 ) +
bj
j
am 1
qm = q0 (am am 1 ) +
bj
bm 1
pm = q0 (bm bm 1 ) +
bj
1
qm +1 = am q0
j b j
1
pm +1 = bm q0
j b j
F.d.t. a regulatorului:
1
( m +1)
1
q
+
q
z
+
...
+
q
z
Q
(
z
)
0
1
m +1
GR ( z 1 ) =
=
1 P( z 1 ) 1 p1 z 1 ... pm +1 z ( m +1)
u (1) = q1 + q0 = a1 q0 +
j b j
1
1
u (0) = q 0
1 a1 b j
j
Date iniiale:
z
Semnal de intrare:
M ( z 1 )
,
R( z ) =
1 N
(1 z )
1
- semnal
1
1 z
Tz 1
1
1
1
M ( z ) = T z , N = 2 R( z ) =
1 2 - semnal
(1 z )
eroarea staionar nul n momentele de eantionare
pentru semnalul de referin specificat;
durata regimului tranzitoriu minim;
realizabilitatea fizic a regulatorului.
M ( z 1 ) = 1, N = 1 R ( z 1 ) =
z
z
treapt
ramp
( z ) = R ( z ) Y ( z ) = R ( z )[1 G0 ( z 1 )]
M ( z 1 )
1
st = lim(1 z ) R( z ) 1 G0 ( z ) = lim(1 z )
1
G
(
z
).
0
1 N
z 1
z 1
(1 z )
1
st = 0 1 G0 ( z 1 ) = (1 z 1 ) N F ( z 1 )
N
N
1
z
F
z
(
1
)
(
)
unde: G0 ( z 1 ) =
.
N
z
Ecuaia caracteristic:
z P = 0, p N
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
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 )
T
Y( z ) = y1 ( z ), y 2 ( z ),..., y p ( z )
f 21
f 22
=
G
z
(
)
T
U( z ) = [u1 ( z ),u 2 ( z ),...,u m ( z )] , f
...
...
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)
_
u
G f (z)
G R (z)
Forma canonic P:
u1
G 11
y1
+
G11 G21
G( z) =
G
G
22
12
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
G11 0
0
,G h =
G k ( z) =
0 G22
G12
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
Gf11
y1
+
Gf12
Gf21
r2
+
_
GR22
Regulatoare
monovariabile
u2
Gf22
Proces
y2
r2
+
_
GR11
u1
+
Gf11
GR12
Gf12
GR21
Gf21
GR22
RMV
+
u2
Gf22
Proces
y1
+
+
+
y2
P
Gp
+
_
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
r1
G 1
f Gd
adj G f
Gd .
=
det G f
r2
+
_
Gd 22 = G R2 G f 22
M.d.t. a regulatorului:
GR =
0
,
Gd 22
GR1
GR2
u1
u2
Gf11
Gf22
y1
y2
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
0 G
G
f12
f11
d 22
G
G
G
f12
f11 R1
f11
f 22 R2
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
r2
+
_
GR1
GR2
u1
+
GR12
Gf12
GR21
Gf21
+
u2
Regulatoare
de decuplare
Regulatoare
principale
RMV
Gf11
Gf22
Proces
y1
+
y2
GR2
0 GR21
1 0
unde: G k =
,G h =
0
G
0
1
R12
GR1
=
0
M.d.t. a 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
G R2
0
0
G f11
1 G f12
Gd 22
G f 21
.
G f 22
Regulatoarele de decuplare:
GR12 =
G f12
G f22
GR21 =
G f21
G f11
r2
+
_
GR1
u1
Gf11
GR12
Gf 12
GR21
Gf 21
+
GR2
u2
Regulatoare
de decuplare
Regulatoare
principale
RMV
Proces
Gf22
y1
y2
GR21 GR1
1 0
1
=
GR12
0
GR2
; G f h = G
G
0
0
f 22
f12
GR12
GR21 GR1
1 0
G f11
0
1
= G f Gd
GR2
0 0
G f11 G f12
G fk ,
0 1 0
1 G f11
0
1
G
0
1
f22
G f21 Gd11
0 0
Gd22
Regulatoarele de decuplare:
GR12 = G f11 G f12 , GR21 = G f22 G f21
G 0 = ( I + G d ) 1 G d
Gd = G f GR
G d = G 0 (I G 0 ) 1
G R = G f 1G 0 (I G 0 ) 1
G R (z)
G f (z)
G f (z)
_
u
G R (z)