自控理论ch7.ppt

Automatic Control Theory School of Information Science and Engineering,CSU * Chapter 7 Analysis and Compensation of Linear Discrete-time System 7.1 Basic concept of discrete-time system 7.1.1 Sampling control system 1. Concept of discrete-time system The signals in system include impulse sequence or digital, the system can be called discrete (time) system. Generally, if the discrete signal is impulse sequence, the system is called sampling system or impulse control system. If the discrete signal is digital, the system is called digital control system or computer control system(The system’s controller is digital computer at almost time). 7.1.2 Digital control system Computer control systems are widely used in industry. They also play an important role in the control of industrial processes which utilize a combination of a computer and an actuator working together to perform a series of tasks. 　Digitization If we have designed a continuous-time (analog) controller and wished to implement it digitally, we need analog-to-digital (A/D) converter, digital-to-analog (D/A) controller and processor (computation of control action). In addition, sometimes we also need an filter before sampling. Control principle The digital computer receives the error in the digital form and performs calculations in order to provide a control output in digital form. The computer may be programmed to provide the output control signal so that the performance of the process is near or equal to the desired performance. Many computers are able to receive and manipulate several inputs, so a digital computer control system can often be a multivariable system. 7.1.3 Characteristic of discrete-time system Excellences of digital control: The size of system is small. The cost is cheap (high ratio between performance and cost). Improved measurement precision. Reduced sensitivity to noise signal. Capability to easily reconfigure the control algorithm in software. Rea