《计算机控制技术-计算机控制系统的控制规律

123.1PID3.1.1PID3.1.2PID3.1.3PID3.1.4PID3.1.5PID3.23.3PID343.1.1PID53.1PID3.1.1PID3.1.2PID3.1.3PID3.1.4PID3.1.5PID3.23.3PID63.1.2PID70()()putKetu=+8„„9iT001()()tpiuKetetdtuT⎡⎤=++⎢⎥⎣⎦∫10e(t)u(t)001()()tpiuKetetdtuT⎡⎤=++⎢⎥⎣⎦∫1112001()()[()()]tpdidetutKetetdtTuTdt=+++∫dT0tt=13e(t)u(t)001()()[()()]tpdidetutKetetdtTuTdt=+++∫14153.1PID3.1.1PID3.1.2PID3.1.3PID3.1.4PID3.1.5PID3.23.3PID163.1.3PID17)11()()(sTsTKsEsUdip++=])()(11[)(0dttdeTdtteTKtudtip++=∫pKiTdTue18∑∫=≈kjtjTedtte00)()(Tkekedttde)1()()(−−≈TkL,2,1,0=k)1(−ke)(ke1−kk19∑=−−++=kjdipkekeTTjeTTkeKku0)]}1()([)()({)()(kukT20PIDPID1()pdideuKeedtTTdt=++∫∑=−−++=kjkkdjikpkTeeTTeTeKu11}1{PIDPID21∑=−−++=kjkkdjikpkTeeTTeTeKu11}1{PIDPID)2()(211−−−+−++−=∆kkkdkikkpkeeeKeKeeKu22PID1−−=∆kkkuuu∑=−−++=kjkkdjikpkTeeTTeTeKu11}1{∑−=−−−−−++=112111}1{kjkkdjikpkTeeTTeTeKu)2()(21){(211211−−−−−−+−++−=+−++−=∆kkkdkikkpkkkdkikkpkeeeKeKeeKTeeeTTeTeeKuipiTTKK=TTKKdpd=23PID21−−++=∆KkkkCeBeAeu)21(TTKBdp+−=)1(TTTTKAdip++=TTKCdp=PID12324——253.1PID3.1.1PID3.1.2PID3.1.3PID3.1.4PID3.1.5PID3.23.3PID261PIDBBB⎩⎨⎧∆=∆0kkuuBeBekk≥BBBB3.1.4PID273.1.4PID2.(1)…D/APID…2829…——…0()()()[()(1)]kPIDjukKekKejKekekα==++−−∑„ε;„e(k)εα=0„e(k)=εα=130…„u(k)u(k-1)e(k)max(1)uku−≥()0ek≥()0ekmin(1)uku−≤()0ek≤()0ek31…„…„max(1)uku−≥max(1)uku−32…„es1/Tt„es=0„es„„es333PID3.1.4PID34PDDD()(1)(1)[()(1)]=−+−−−ααKTukukekekTPIDf/()()()()()1PIPDPPIDKTKTsUsKEsUsUsUssTs⎛⎞=++=++⎜⎟+⎝⎠f()()1PDDKTsUsEsTs=+DfDPd()d()()ddDutetTutKTtt+=fPD()(1)()(1)()DDDukukekekukTKTTT−−−−+=P0()()()()kIDjukKekKejuk==++∑PIDfPDDDff()(1)[()(1)]=−+−−++TKTTukukekekTTTTT35PIDPID„e(k)……36PID374.„„…11z−()ITekT113.1.4PID385.PI„PID5-291111()()(1)()111(1)ppkzukekkekzzzααα−−−−==+−−−−PI1()()ukuk=1111(1)−−=−−ααzz393.1PID3.1.1PID3.1.2PID3.1.3PID3.1.4PID3.1.5PID3.23.3PID403.1.5PID„„pKiTdTpKiTdT41„„max)10~5(ffs≥15~20s6~8s3~10s1~5s10~20s1422PID(1)KP(2)Ti1KPTiKPTi(3)PI2TdKPTi433(1)T1/10(2)T(=1/KP)kTk()2DDC020[()d][()d]ettett∞∞∫∫=(3)(4)TKPTiTd(5)PID44—0.221.050.400.360.270.220.16PIPID2.0—0.200.990.430.420.340.140.09PIPID1.50—0.160.910.470.490.470.050.043PIPID1.20—0.140.880.490.530.630.030.014PIPID1.05Td/TkTi/RkKP/KkT/Tk450.1250.50.60.1PID0.830.45PITd/TkTi/TkKp/KkT/TkkTT1.0=kiTT5.0=kdTT125.0=TTiTdPID)25.15.345.2(21−−+−=∆kkkpkeeeKu)}2(){(211−−−+−++−=∆kkkdkikkpkeeeTTeTTeeKu463.1PID3.1.1PID3.1.2PID3.1.3PID3.1.4PID3.1.5PID3.23.3PID473.23.2.1483.23.2.1493.23.2.2503.23.2.251()()()1()()spBspDsGseGsDsGseττ−−=+seτ−3.23.2.2Smith)52Smith(,)()()1()()(1)spDsDsDsGseττ−=+−()()()1()()psBpDsGsGseDsGsτ−=+3.23.2.2Smith)53PID()1pssppKGseeTsττ−−=+()()(1)(1)1pssppKGsGseeTsτττ−−=−=−+3.23.2.2Smith)54(1)(2)(3)(4)PID1()()()ekrkyk=−1()ek2()ek()()(1)(1)()1psNTssppKYsGseeUsTsτ−−=−=−+()syk()(1)[(1)(1)]ssykaykbukukN=−+−−−−pTaTT=+(1)pbKa=−21()()()sekekyk=−()uk222222()[()(1)]()[()2(1)(2)]PidukKekekKekKekekek∆=−−++−−+−3.23.2.2Smith)553.1PID3.1.1PID3.1.2PID3.1.3PID3.1.4PID3.1.5PID3.23.3PID563.3PIDPIDPID--573.3.13.3PID583.3.23.3PID593.3.33.3PID601)2)3)4)3.3PID3.3.3611)2)3)4)=1=0yre−=rye−=3.3PID3.3.3621)2)3)4)3.3PID3.3.3631)2)3)4)PIDkkuKu∆=∆⎪⎩⎪⎨⎧=1100KKPIDPIDPID3.3PID3.3.3641)2)3)4)ICM⎪⎪⎩⎪⎪⎨⎧=3210ICM3.3PID3.3.3653.3.4PID(1)PID?(2)?3.3PID663.3.53.3PID671)PIDOCM⎪⎪⎩⎪⎪⎨⎧=3210OCM3.3PID3.3.5682)3)4)}[e-mail]71