机电系统建模与控制
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机电建模_modeling, identification and control of mechtronic system
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机电建模modeling, identification and control of mechtronic system
建模Modeling
使用微分方程,用拉普拉斯变换
分支主题
机械系统建模Mechanical Systems
EOMDerive Equation of Motion
Mass ( inertia ) MStiffness ( spring ) KDissipation ( damper ) B
轮胎案例tire
电子系统Electrical Systems
resistorcapacitorinductorDC Motors
网格法求mesh loop circuit
液压系统Hydraulic (Fluid) Systems
ResistanceCapacitance chamberinductorPressure and Flow Sources
热学系统Thermal Systems
capacitanceresistance
分析Time & frequency analysis
反馈系统
前馈系统Feedforwad system
使得输入接近能够完成任务的理想输入,反馈控制就只需要一小部分 correction 就可以了makes the control input close to the desired control input that is needed to accomplish the task.
for Reference Trackingfor Disturbance Rejection
反馈系统feedback system
Stabilize Unstable SystemsImprove System PerformanceReduce the effect of modeling error and various disturbances
稳定性判据
Routh’s Stability Test (time-domain method) Nyquist Stability Criterion (frequency domain)bode diagramRoot Locus Method (time-domain method)
奈奎斯特:Z=N+Pp为开环不稳定极点z为闭环不稳定极点N为(-∞~∞)开环乃氏图绕-1顺时针圈数
robust Stability
抵抗干扰能力,尤其是建模误差the ability anti-interference, especially modeling error
时域分析
利用超调、调整时间进行极点设计use overshoot、setting time to determine the Transient performance regionwe can assign pole in that area
频域分析
频域指标分析frequency index analysisbandwidth、crossover frequency、open loop gain
单输入单输出控制器设计
lead-lag
lead极点位置为零点位置3~20倍 located at a distance 3 to 20 times the value of the zero location过远会导致高频噪音不能被衰减
lag零点位置为极点位置3~20倍 located at a distance 3 to 20 times the value of the pole location
二阶系统通过时域指标进行极点配置法计算through second order system‘s time domain performance,use pole assignment to calculate在频域对系统进行矫正in frequency domain to compensation
pole placement
replace pole of the system by using a controller
开环零极点相消,扩展带宽,极点越远,带宽越大cancel stable OL zero and pole to extend the bandwidth
选取主导极点位置,其他极点远离主导极点(主导极点决定主要时域性能)choose dominant pole,place other pole far away dominant pole decided the time domain‘s performance
开环极点、零点对于响应的影响the effect of open loop and pole to response
不稳定零点导致下冲unstable zero lead to undershoot闭环极点右侧的稳定零点导致过冲zero at the right side of CL pole lead to overshoot闭环极点右侧稳定极点导致过冲pole at the right side of CL pole lead to overshoot
状态空间模型state space model
Transfer Function to State Space Representation
Controllability observability Stabilizability Detectability
Canonical Forms
辨识System identification tools
基于对特定输入的响应构件数学模型Building mathematical models of dynamical systems based onobserved responses of the system
步骤
建模modeling from the physical model
选择结构choose model structure
ARX
方波激励use square wave stimulate
使用最小二乘法估计参数use least square estimation
倒立摆inverted pendulum
反馈控制系统设计Feedback control system design
状态反馈state feedback
输出反馈控制器设计Output Feedback Controller Design
全维观测器full order observer
降维观测器Reduced-Order Observer
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