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机电系统建模与控制

2020-07-21 14:07:07   0  举报

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机电建模_modeling， identification and control of mechtronic system

思维导图

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作者其他创作

大纲/内容

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