過(guò)程控制課程講義(文件)
【正文】 + + U(s) ? ?0)(0)()()()()()()(1)()()()()()(1)()()()()()(???????????sYDsDsEsAsBsYsGsGsGsGsEsDsGsGsGsGsAsDsBsYpsppsp時(shí)，希望在令)512()(?)()(?)()(?1)()()(?)(?)(?)(?)()()()(?)(?)(?)(?)()(?)(?)(?)(?,)()()(bsEsUsGsYsGsUsYsGsGsEsEsYsGsUsGsGsEsEsGsEsAsBsEsAsBsEpsspsppsspps????????????????????輸出則可以得到推理控制的表示是數(shù)學(xué)模型其中的定義可以推得從則可知只要Gp(s) Gps(s) B(s) A(s) Ys(s) Y(s) D(s) + + + + 過(guò)程部分 B(s)D(s) A(s)D(s) R(s) Gi(s) – + )(? sGps)(? sE推理控制部分 U(s) – 圖 從圖 ，推理控制是由三部分組成 測(cè)量值中分離出來(lái)。的影響從對(duì)將，則若)()()()()()()(?)()(?)()()()()()()()()()()(sYsYsDsDsAsUsGsYsGsGsDsAsUsGsYsUsGsDsAsYsspsspspspsspss???????影響的估計(jì)對(duì)就實(shí)現(xiàn)了所以估計(jì)器則估計(jì)器輸出為：，如果已知的影響對(duì)估計(jì)估計(jì)器)()()(?)()()(?)(?)()()()(?)()(?)()(?)(?)(?)(?)()()(?.2sYsDsEsDsBsAsBsDsAsGsGsBsBsAsAsAsBsEsYsDsEpsps?????0)()()()()()()(?)()()()(?)](?)([1)()()(?)()()()()(0)()()()(?1)()()(?)](?)([1)()()(0)(?1)()(.3???????????????????sDsBsDsBsDsAsEsDsBsGsEsGsGsDsGsEsGsAsDsBsYDsRsRsGsGsRsGsEsGsGsGsGsYRsGsGsUipspsipppipspspipi當(dāng)當(dāng)前提下顯然在所有模型均準(zhǔn)確計(jì)算式，可以看到從推理控制器三、推理控制器的設(shè)計(jì) nfppinfpspfmiipsppppfipisTsGGsGsTGesGsGsTsGesGsGsGsGsGsGsGsG)1)((?)0(?1)()1)(0(?)(?)()1?()(?)(?)(?)(?)(?/)()()(?/1)(1????????????????????控制器：則濾波器設(shè)計(jì)為：其中：設(shè)：實(shí)際中：理論上：??)()()](1[)()()()]()()(?)(?)()[()()()()(sDsBsGsRsGsYsDsAsAsBsRsGsGsDsBsYffip??????下：所有模型均準(zhǔn)確的條件輸出為：在實(shí)際控制器下，系統(tǒng)四、模型誤差對(duì)系統(tǒng)性能的影響 擾動(dòng)通道模型存在誤差 ? ?? ?? ?)0()0()0(?)0(?)0()0()()()()()()(1)()()()()()()()()()()(?)()(DBABAYsDssGsDsBsGsRsGsYsDssBsRsGsUsBsEsAsfffi???????????????????????控制通道模型存在誤差 )0()]0(?/)0(1)[0()0()0()]0(?/)0(1[)0()0()()()(?)()(1)()(?)()()()(?.DGGBYRGGYRsDsBsGsGsGsRsGsGsGsYsGappppppfppfp??????????????????態(tài)偏差為：下，系統(tǒng)主要輸出的穩(wěn)在階躍不可測(cè)擾動(dòng)作用要輸出的穩(wěn)態(tài)偏差為：設(shè)定值擾動(dòng)下，系統(tǒng)主存在誤差)0()0(]111[)0()0(]111[)0()0()0(?)0()0()0(?)0()()(})](?)()[(?)(1)(/)()()(?)(1{)()](?)()[(?)(1)()()()(?.DBKKYRKKYRGABKGGKsDsBsGs
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鄂ICP備17016276號(hào)-1