电气工程与自动化专业英语 教学课件 作者 王伟 6.pptxVIP

6.1　What Is Control?Fig.6-1　Components of a computer-controlled system6.2　Feedback6.2.1　Introduction6.2.2　Drawbacks of Feedback6.2.1　IntroductionFig.6-2　Open and closed loop systemsa) Closed loop　b) Open loop6.2.2　Drawbacks of FeedbackWhile feedback has many advantages, it also has some drawbacks. Chief among these is the possibility of instability if the system is not designed properly. We are all familiar with the effects of positive feedback when the amplification on a microphone is turned up too high in a room. This is an example of feedback instability, something that we obviously want to avoid. This is tricky because we must design the system not only to be stable under nominal conditions but also to remain stable under all possible perturbations of the dynamics.6.3　PID ControlThe reason why on-off control often gives rise to oscillations is that the system overreacts since a small change in the error makes the actuated variable change over the full range. This effect is avoided in proportional control, where the characteristic of the controller is proportional to the control error for small errors. This can be achieved with the control law u=umax　if　e≥emaxkpe　if　emin＜e＜emaxumin　if　e≤emin(6-1)6.4　Adaptive Control6.4.1　Introduction6.4.2　Formulation of Adaptive Control Problem6.4.1　Introduction1) the use of algebraic approach in control design,2) the parameterization of controllers,3) the use of rational fraction functions,4) the digitalization of signals and models.6.4.2　Formulation of Adaptive Control Problem1) their state or structure may change,2) we may influence the state or output of the system.Fig.6-3　Inner structureof an adaptive system6.4.2　Formulation of Adaptive Control Problem1) Recursive identification -i.e. the creation of a mathematical description of the controlled process using self-adjusting models.2) The control of systems about which we know too little before starting up to predefine the structure and parameters of the control algorithm, a