第6章 数字控制器直接的设计1b.ppt

第六章 数字控制器的直接设计方法之一b 杨根科 上海交通大学自动化系 2007年3月 内容提要 概述 参数优化的低阶控制算法 最少拍随动系统的设计 最少拍无波纹随动系统的设计 惯性因子法 非最少的有限拍控制 大林算法 小结 Direct Controller Design Overview 设计思想 Given a process model and a desired closed-loop system transfer function, it is possible to directly calculate the required controller transfer function. The desired system transfer function can be based on response to commands, errors, disturbances, etc. The direct controller design method is straightforward. Its difficulty lies in specifying a desired transfer function that is practical and realizable. System Block Diagram 1 Command Input Only (D(z) = 0) Direct Design for Command Input Direct Design for Command Input Example: Servo-Motor System Requires position control command r(nT). Approximate Motor Model Parameters Discrete Motor Model Direct Design for Command Input Ideal System Transfer FunctionNo error! 2 ‘Next-Best’ System Transfer Function---Output follows 1 sample behind command. Response to 0.01 Step Command---Kc = 625 Desired 1st-Order Closed-Loop System Desired 1st-Order Closed-Loop System Desired 1st-Order Closed-Loop System Desired 1st-Order Closed-Loop System Response to 0.01 Step Command 3 Realizability Not Realizable 4 Disturbance Input Only (R(z) = 0) Direct Design for Disturbance Input Direct Design for Disturbance Input Direct Design for Disturbance Input Response to Unit Step Disturbance Desired step disturbance response ---4a No Further Increase in Output c(t) Desired step disturbance response Response to Unit Step Disturbance 4b Complete Disturbance Rejection---Response after 1 sample, then eliminated. Complete Disturbance Rejection---Response after 1 sample, then eliminated. Response to Unit Step Disturbance---Response after 1 sample, then eliminated. Response to 0.01 Step Command---Response after 1 sample, then eliminated. Conclusion Conclusion. * * T = 0.002 s ; No disturbance: d(t) = 0 T = 0.002 s ; No disturbance: d(t) = 0 ? This control is not realizable! ? So