1、 1 P13 1-1 1) 2) 1-2 1) 2) 3) 4) 5) 1-3 1) 2 2) PID3) 4) DCS 3 5) P42 2-1 f(t) * f(t)2-2 f(t) Z F(z) 1) mt f(t)=a *-k mT-1 2mT-2 k=0 Zf(t)=Zf(t)=f(kT)z=1+az+az+. - mT-1 az mT-1 1 Zf(t)= 1-az2) -at f(t)=1-e -aT-1 -at -1-aT-1-1-aT-1 11(1-e)z F(z)=Z1-e=-= 1-z1-ez(1-z)(1-ez)3) 2 f(t)=t 2 2 3 Tz(z+1) F(z
2、)=Zt= (z-1)4) -at f(t)=te -aT -at -aT2 Tze F(z)=Zte= (z-e)P58 3-1 =-= 1-aT 1 z1-ez 1-ez 1-aT 1-aT 1-aT 1- 2 2 Tz(z+ Tz(z+ 2 2 +. -aT -1 1-1-aT 1 (1-e)z ez -aT aT (1-z)(1-ez z)(1 1-1- 1 1 3 +1) -1) 1) 4 3-2 4 5 3-8 0 N AD Ti AD ZF=1,2,3ZF=1 k=N ZF=2 =0 k=0 Ti k k+1 Ti 1 Ti k k-1 AD AD+1 Ti AD Ti AD A
3、D-1 Ti Y Y N NN N N ZF 2 ZF 3 Y Y Y k=0 AD =2N Y Y Ti N 5 P94 4-1 PID Kp Ki Kd Kp Kp Ki Kd4-2 PID PID : k 0 j=0 Te(k)-e(k-1) u(k)=Kpe(k)+e(j)+Td+u TiTPID : u(k)=u(k)-u(k-1)=Kpe(k)-e(k-1)+Kie(k)+Kde(k)-2e(k-1)+e(k-2) 1) 2) 3) 4-4 PIDPID PID (k)-2e(k-1)+ )-2e(k-1 6 4-5 PID T 1) 2) 3) 4) 5) 6) 7) 4-6 P
4、ID 1) PID TiTd2) PID Kp K T T Kp Ti Td 3) PID PIDTm PID K 7 T Kp Ti Td 4-7 D(z) 4-8 4-9 0 10 G= s(0.1s+1) T=1s1 D(z) y(kT) u(kT) e(kT) 2 D(z) y(kT) u(kT) e(kT) (1) G(z) 0 10 G= G= 0 s( s 8 -Ts -1 -1 1 2-1 -10-1 1-e10 109z(1+0.11z) G(z)=Z =(1-z)Z= ss(0.1s+1)s(0.1s+1)(1-z)(1-ez) i=0 p1=-0.11 j=1 z -1r
5、=1 -1 1 R(z)= 1-zp=1 -1p e2 -(r-1)-1 -1 11 (z)=(1-z)F(z) (z)=z(bz)(1+0.11z)F(z)F 1 (z) F 2 (z) F 1 (z)=1 F 2 (z)=1+c 1 z -1-1 1 e1 -1 -1 1 (z)=(1-z)(1+cz) (z)=bz(1+0.11z) e (z)=1- (z) b 1 =0.9 c 1 =0.1 -1 1 e -1 -1 (z)=(1-z)(1+0.1z) (z)=0.9z(1+0.11z) -10-1 -1 e (z)1-ez D(z)= (z)G(z)10+z-6-1 (z) U(z)
6、=D(z)E(z)=R(z)=0.1-4.5410z G(z) I 0.1 -4.54*10 -6 0 0 -1 -1 -1-2-3 -1 0.9z(1+0.11z) Y(z)= (z)R(z)=0.9z+z+z+ 1-z0 0.9 1 1 D(z) -10 -1 -10-1 -1 - 1-ez 1-ez -10 10 10 )= )= z)10+z )10+z )= )= =0.1 .1 (z) (z) )=R( )=R )= (z) (z) z) z) )= )= )= 9 -10-1 -1 -6 1-ez U(z)=E(z)D(z)=E(z) 10+z u(k)=0.1e(k)-4.54
7、*10e(k-1)-0.1u(k-1)(2) -1 -1 -1-10-1 9z(1+0.11z) G(z)= (1-z)(1-ez)i=0 p1=-0.11 j=1 z -1r=1 1 -12 z R(z)= (1-z) p=2 -1p e2 -(r-1)-12-1 12 1 (z)=(1-z)F(z) (z)=z(bz+bz)(1+0.11z)F(z) F 1 (z) F 2 (z) F 1 (z)=1 F 2 (z)=1+c 1 z -1-12 1 e1 -12 -1 12 (z)=(1-z)(1+cz) (z)=(bz+bz)(1+0.11z) e (z)=1- (z) b 1 =1.8
8、9 b 2 = -0.99 c 1 =0.11 -12 1 e -1 2 -1 (z)=(1-z)(1+0.11z) (z)=(1.89z-0.99z)(1+0.11z) -1-10-1 -1-1 e (z)0.21(1-0.52z)(1-ez) D(z)= (z)G(z)(1-z)(1+0.11z)-1-2-10-1 -1 -1-2-34 (z)(0.21z-0.11z)(1-ez) U(z)=D(z)E(z)=R(z)= G(z)1-z=0.21z+0.1z+0.1z+0.1z+ -2-3-45 Y(z)= (z)R(z)=1.89z+3z+4z+5z+ 12 bz)( bz 12 12
9、) ) - 12 -12 )=(1-z)( )=(1-z)( - 12 -12 12 )=(1.89 )=(1.89 2 2 (z)=1+c z)=1+c - 1 11z) z) - 1 1 b 1 1 )(1+0.11z 0.11 89z-0.99z z-0.99 -1 z 10 0 0 1.89 3 4 5 D(z) -1-10-1 -1 -1 -1 -6-2 -1 -2 -6 0.21(1-0.52z)(1-ez) U(z)=E(z)D(z)=E(z) (1-z)(1+0.11z) U(z)=0.21E(z)-0.11zE(z)+4.9910zE(z)+0.89zU(z)+0.11zU(
10、z) u(k)=0.21e(k)-0.11e(k-1)+4.9910e(k-2)+0.89u(k-1)+0.11u(k-2) I I4-10 0 2 1 G(s)= s T=1s1 (z) D(z) 2 u(k) (1) -1-1 -1 0 -12 1z(1+z) G(z)=(1-z)ZG(s)= s2(1-z)-12 1 e1 -12-1 12 (z)=(1-z)(1+cz) (z)=(bz+bz)(1+z) e (z)=1- (z) b 1 =1.25 b 2 = -0.75 c 1 =0.75 -1-2-1 -121 e (z)=(1.25z-0.75z)(1+z) (z)=(1-z)(
11、1+0.75z) -1 -1 e (z)2.5(1-0.6z) D(z)= (z)G(z)1+0.75z-12-1 -1-2-1 -1-1-12 -1-2 (z) U(z)=D(z)E(z)=R(z) G(z) 2(1-z)z=(1.25z-0.75z)(1+z) z(1+z)(1-z)=2.5z-1.5z0 2.5 -1.5 0 0 -1 -1-2-1-2-3-4 -12 z Y(z)= (z)R(z)=(1.25z-0.75z)(1+z)=1.25z+3z+4z+ (1-z)0 0 1.25 3 4 (2) 121 121 .75z) 75z) 121 121 121 121 -1 2.5
12、(1-0.6z 5(1-0.6z - )= )= )1+0.75 )1+0.75 )= (z) ) c 1 =0.75 =0.75 -1 z) 75z )=R(z) )=R(z) 11 1 1 2.5(1-0.6z) U(z)=E(z)D(z)=E(z) 10.75 u(k)=2.5e(k)-1.5e(k-1)-0.75u(k-1) z 4-11 -s 0 e G= (2s+1)(s+1) T=1s D(z) -s -2 -1 -1 -1 -1 e0.155z(1+0.6065z) G(z)=(1-z)Z= s(2s+1)(s+1)(1-0.6065z)(1-0.3679z)s 2 N=1-1
13、 -2 -1 -1 -1 (1- )z0.3935z (z)=z= 1-z1-0.6065z-1 -1 -1 -1 -1 (z)12.5387(1-0.6065z)(1-0.3679z) D(z)= 1- (z)G(z)(1-z)(1+0.3935z)(1+0.6065z)-2 -2-3-4-5 -1-1 0.3935z Y(z)= (z)R(z)=0.3935z+0.6322z+0.7769z+0.8647z (1-0.6065z)(1-z) -1 -1-2-34 -1-1 Y(z)2.5387(1-0.3679z) U(z)=2.5387+0.0650z+1.5653z+0.6554z+1
14、.2072z+ G(z)(1-z)(1+0.6065z) (1+0.6065z -1 ) 1.6065 -1 -1 -1 -1 1.5803(1-0.6065z)(1-0.3679z) D(z)= (1-z)(1+0.3935z)-2 -1 -1 -2 -3 D(z)G(z)0.2449z(1+0.6065z) (z)= 1+D(z)G(z)1-0.6065z-0.1486z+0.1485z-2 -1 -1 -2 -3-1 -2 -3 -4 -5 -6 -7 0.2449z(1+0.6065z) Y(z)= (z)R(z)= (1-0.6065z-0.1486z+0.1485z)(1-z) =
15、0.2449z+0.5420z+0.7585z+0.8976z+0.9701z+1.0025z+5387(1-0.3679 5387(1-0 .3679 )= )= )= 5387(1-0.3679 5387(1-0.3679 1-z)(1+0 -z)(1+0 -1 -1 1 )= )= - 1 1 1 ) 3935z+0.6322 z+0.6322 -2 -2 2 z) z) - 1 1 )=2.5387 )=2 )= 3679z) z) 6065z) z 1-1 1 1 )= )= 1 - 1 1.6065 1.6065 12 -1 -1 -1 -2 -3-1 -1 -2 -3 -4 -5
16、 Y(z)1.5800(1-0.6065z)(1-0.3679z) U(z)= G(z)(1-0.6065z-0.1486z+0.1485z)(1-z) =1.5800+0.9987z+1.2335z+1.0549z+1.0678z+1.0142z+4-13 -s 0 e G(s)= s+11 4-27 u(k) 2 D(z) u(k) (1) 1 e(k)=r(k)-y(k) y(k)=ay(k-1)+bu(k-1)-u(k-N-1) f T - T -T a=e=e f T - T -T f b=K1-e=1-e 1 N= TT21 e(k)=e(k)-y(k) u(k) p22i2d22
17、2 u(k)=u(k-1)+ u(k) =u(k-1)+Ke(k)-e(k-1)+Ke(k)+Ke(k)-2e(k-1)+e(k-2)(2) s 1 N=1 T=1s -s -2 -1 -1 0 -1 1 e0.632z G(z)=(1-z)ZG(s)=(1-z)Z= s s(s+1)1-0.368z-2 -2 -1 -1 T -1 (1- )z0.632z (z)= 1-z1-0.368z =e=e=0.368-1 -1-1 (z)1-0.368z D(z)= = G(z)(1- (z)(1-z)(1+0.632z)-1 -1-1 1-0.368z U(z)=D(z)E(z)=E(z) (1
18、-z)(1+0.632z)22 22 )-e(k-1)+ )-ek-1 22 22 22 22i2 i2 Ke(k)+K Ke()+ 22i2 22i2 2 13 u(k) u(k)=e(k)-0.368e(k-1)+0.368u(k-1)+0.632u(k-2) P147 6-5 6-8 (DMC) (MAC) N N MAC DMC N a s a n -a s NDMC DMC P k M DMC) DMC) 14 u(k), u(k+1), u(k+M-1) P MM y(k+1|k),y(k+P|k) w(k+1), ,w(k+P) P202 8-1 P218 9-1 15 9-2 9-4 P242 10-1
