《精》江南大学计算机控制系统巴基斯坦老师课件.pptVIP

Contents Brief Review of last lecture Direct Digital Design Conditions to obtain Discrete Closed-loop Transfer Function Dead-Beat Controller The Simpler Case – Stable poles/zeros, No time delay, Reference is step input The General Case – Stable/Unstable Plant, with delay, Reference could be any (step, ramp, acceleration) Dead-Beat Control with inter-sampling ripple Dead-Beat Control without inter-sampling ripple Dead-Beat Control with unstable poles and zeros and delay Limitations of the Deadbeat Control Homework Brief Review- Discrete PID Control Brief Review- Direct Digital Design Brief Review- Direct Digital Design Direct design method Direct design method Dead-beat control Direct design method Dead-beat control – Simpler Case 1 Direct design method Dead-beat control – Simpler Case 1 Direct design method Dead-beat control Direct design method Dead-beat control Direct design method Dead-beat control Direct design method Dead-beat control – Simpler Case 1 Direct design method Dead-beat control Direct design method Dead-beat control Direct design method Dead-beat control – Simpler Case 2 (Without Inter-sample ripples) Direct design method Dead-beat control - Without Inter-sample ripples Direct design method Dead-beat control - Without Inter-sample ripples Direct design method Dead-beat control – BMW Example Direct design method Dead-beat control – BMW Example 4、 Limitation of the dead-beat control 5、 Example Conditions for Dead-beat control without inter-sampling ripple 0 T 2T 3T 4T t r(k) 0 T 2T 3T 4T t y(k) Output response with unit-step input Direct design method Dead-beat control – Example Analysis of the existence of inter-sampling ripple: When transient process is over, u(k) is constant, ∴ without inter-sampling ripple u(k) and uh(t) with unit-step input 0 T 2T 3T 4T uh(t) 1/T t 0 T 2T 3T 4T u(k) 1/T t Direct design method Dead-beat control – Example u(k) and uh(t