2019年北京化工大学自动控制原理期末复习课件.ppt

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1、CourseReviewYouqingWangCollegeofInformationScience&Technology2019.11.15FinalExamTotal50scores,6questions3questionsforlinearcontinuoussystems(29)2questionsforlineardiscretesystems(16)Linearcontinuous-timesystemtheoryLineardiscrete-timesystemtheoryOverview:transferfu

2、nctionstatespacemodelClassicalcontrolvsmoderncontrol“Transferfunction”to“SSmodel”(multi-choice)CanonicalformControlcanonicalformObservercanonicalformModalcanonicalformNamelyWeobtain5DynamicresponseofSSmodelConsiderthefollowinglineartime-invariantsystemzero-inputres

3、ponseFreedommotionzero-stateresponseForcedmotionItsdynamicresponseis:6Calculationof(1)(1)representsthepowerseriesofthematrixAt(2)usingtypicalmatrix,suchasDiagonalorJordanmatrix7Calculationof-2（3）takingtheinverseLaplacetransformofexample：8Controllability:input-----s

4、tateObservability:output-----stateControllabilityandObservabilityTheirphysicalmeanings?CriterionrankcriterionPBHrankcriterionSystemdestructionaccordingtocontrollabilityandobservability91Substitutingthefeedbacklaw,yieldsthenthecharacteristicequationoftheCLsystemis(a

5、)2Assumethedesiredlocationareknown,thenthecorrespondingdesiredcharacteristicequation:(b)3therequiredelementsofKareobtainedbymatchingcoefficientsinEq.(a)andEq.(b)ControllerdesignCheckcontrollabilityFull-statefeedbackcontrol10Fullstatefeedbackwithreferenceinput-K-K11

6、HowtoselectpolepositionDominantsecond-orderpoles---dealswithpoleselectionwithoutexplicitregardforcontroleffortNaturalfrequency+dampingfactoroptimalcontrol(orsymmetricrootlocus)---specificallyaddresstheissueofachievingabalancebetweengoodsystemresponseandcontroleffor

7、t.correctionterm,close-loopobserver：weightmatrixLReduced-orderobserverObserverequation：LObserver(duality)13First,introducetheintegraloferroreTheoverallsystemstateequationsbecomeStatefeedbackcontrolOutputtrackingforgivensystemStatefeedbackforoverallsystemIntegralCon

8、trolandRobustTracking14Linearcontinuous-timesystemtheoryLineardiscrete-timesystemtheorySamplingtheorem(香农定理)f(t)canberepresenteduniquelybyitssamp