{"id":83942,"date":"2020-06-04T07:42:41","date_gmt":"2020-06-04T05:42:41","guid":{"rendered":"https:\/\/prohoster.info\/blog\/administrirovanie\/vvedenie-v-teoriyu-avtomaticheskogo-upravleniya-osnovnye-ponyatiya-teorii-upravleniya-tehnicheskim-sistemami"},"modified":"2020-06-04T07:42:41","modified_gmt":"2020-06-04T05:42:41","slug":"vvedenie-v-teoriyu-avtomaticheskogo-upravleniya-osnovnye-ponyatiya-teorii-upravleniya-tehnicheskim-sistemami","status":"publish","type":"post","link":"https:\/\/prohoster.info\/cs\/blog\/administrirovanie\/vvedenie-v-teoriyu-avtomaticheskogo-upravleniya-osnovnye-ponyatiya-teorii-upravleniya-tehnicheskim-sistemami","title":{"rendered":"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f","gt_translate_keys":[{"key":"rendered","format":"text"}]},"content":{"rendered":"<p>Zve\u0159ej\u0148uji prvn\u00ed kapitolu p\u0159edn\u00e1\u0161ek o teorii automatick\u00e9ho \u0159\u00edzen\u00ed, po nich\u017e u\u017e v\u00e1\u0161 \u017eivot nikdy nebude stejn\u00fd. <\/p>\n<p><\/p>\n<p>P\u0159edn\u00e1\u0161ky k p\u0159edm\u011btu \"\u0158\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" veden\u00e9 Olegem Stepanovi\u010dem Kozlovem na kated\u0159e \"Jadern\u00e9 reaktory a energetick\u00e1 za\u0159\u00edzen\u00ed\", Fakulty \"Energetick\u00e9ho stroj\u00edrenstv\u00ed\" MGTU im. N.E. Baumana. Velk\u00e9 d\u00edky mu za to. <\/p>\n<p><\/p>\n<p>Tyto p\u0159edn\u00e1\u0161ky se teprve p\u0159ipravuj\u00ed k publikaci ve form\u011b knihy, a proto\u017ee zde jsou specialist\u00e9 na TAU, studenti a jednodu\u0161e zv\u00eddav\u00ed z\u00e1jemci, jak\u00e1koliv kritika je v\u00edt\u00e1na. <\/p>\n<p>\n<img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/51ec35e261067ae210b961e3a4259d87.jpg\" style=\"display:block;margin: 0 auto;\" \/><noindex><a rel=\"nofollow\" name=\"habracut\"><\/a><\/noindex><\/p>\n<h1>1. Z\u00e1kladn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f<\/h1>\n<p><\/p>\n<h2>1.1. C\u00edle, principy \u0159\u00edzen\u00ed, typy \u0159\u00eddic\u00edch syst\u00e9m\u016f, z\u00e1kladn\u00ed definice, p\u0159\u00edklady<\/h2>\n<p><\/p>\n<p>Rozvoj a zdokonalov\u00e1n\u00ed pr\u016fmyslov\u00e9 v\u00fdroby (energetika, doprava, stroj\u00edrenstv\u00ed, kosmick\u00e1 technika atd.) vy\u017eaduje nep\u0159etr\u017eit\u00e9 zvy\u0161ov\u00e1n\u00ed produktivity stroj\u016f a za\u0159\u00edzen\u00ed, zvy\u0161ov\u00e1n\u00ed kvality v\u00fdrobk\u016f, sni\u017eov\u00e1n\u00ed n\u00e1klad\u016f a zejm\u00e9na v jadern\u00e9 energetice dramatick\u00e9 zv\u00fd\u0161en\u00ed bezpe\u010dnosti (jadern\u00e9, radia\u010dn\u00ed atd.) provozu JE a jadern\u00fdch za\u0159\u00edzen\u00ed.<\/p>\n<p><\/p>\n<p>Realizace stanoven\u00fdch c\u00edl\u016f je nemo\u017en\u00e1 bez zaveden\u00ed modern\u00edch \u0159\u00eddic\u00edch syst\u00e9m\u016f, v\u010detn\u011b jak automatizovan\u00fdch (s \u00fa\u010dast\u00ed \u010dlov\u011bka-oper\u00e1tora), tak automatick\u00fdch (bez \u00fa\u010dasti \u010dlov\u011bka-oper\u00e1tora) \u0159\u00eddic\u00edch syst\u00e9m\u016f (\u0158S).<\/p>\n<p><\/p>\n<p><b>Definice: <\/b><i>\u0158\u00edzen\u00ed je takov\u00e1 organizace ur\u010dit\u00e9ho technologick\u00e9ho procesu, kter\u00e1 zaji\u0161\u0165uje dosa\u017een\u00ed stanoven\u00e9ho c\u00edle.<\/i><\/p>\n<p><\/p>\n<p><i>Teorie \u0159\u00edzen\u00ed<\/i> je obor modern\u00ed v\u011bdy a techniky. Zakl\u00e1d\u00e1 se jak na fundament\u00e1ln\u00edch (obecn\u011b v\u011bdeck\u00fdch) discipl\u00edn\u00e1ch (nap\u0159\u00edklad matematika, fyzika, chemie atd.), tak na aplikovan\u00fdch discipl\u00edn\u00e1ch (elektronika, mikropo\u010d\u00edta\u010dov\u00e1 technika, programov\u00e1n\u00ed atd.).<\/p>\n<p><\/p>\n<p>Jak\u00fdkoli \u0159\u00eddic\u00ed proces (automatick\u00fd) se skl\u00e1d\u00e1 z n\u00e1sleduj\u00edc\u00edch z\u00e1kladn\u00edch etap (prvk\u016f):<\/p>\n<p><\/p>\n<ul>\n<li> z\u00edsk\u00e1n\u00ed informac\u00ed o \u00fakolu \u0159\u00edzen\u00ed;<\/li>\n<li> z\u00edsk\u00e1n\u00ed informac\u00ed o v\u00fdsledku \u0159\u00edzen\u00ed;<\/li>\n<li> anal\u00fdza z\u00edskan\u00fdch informac\u00ed;<\/li>\n<li> proveden\u00ed rozhodnut\u00ed (z\u00e1sah do \u0159\u00edzen\u00e9ho objektu). <\/li>\n<\/ul>\n<p><\/p>\n<p>Pro realizaci procesu \u0159\u00edzen\u00ed mus\u00ed m\u00edt \u0159\u00eddic\u00ed syst\u00e9m (\u0158S):<\/p>\n<p><\/p>\n<ul>\n<li> zdroje informac\u00ed o \u00fakolu \u0159\u00edzen\u00ed;<\/li>\n<li> zdroje informac\u00ed o v\u00fdsledc\u00edch \u0159\u00edzen\u00ed (r\u016fzn\u00e9 senzory, m\u011b\u0159ic\u00ed za\u0159\u00edzen\u00ed, detek\u010dn\u00ed p\u0159\u00edstroje atd.);<\/li>\n<li> za\u0159\u00edzen\u00ed pro anal\u00fdzu z\u00edskan\u00fdch informac\u00ed a formulaci rozhodnut\u00ed;<\/li>\n<li> vykon\u00e1vac\u00ed za\u0159\u00edzen\u00ed, kter\u00e1 p\u016fsob\u00ed na \u0158\u00edzen\u00fd Objekt, obsahuj\u00edc\u00ed: regul\u00e1tor, motory, zesilova\u010de a p\u0159evodn\u00ed za\u0159\u00edzen\u00ed atd.<\/li>\n<\/ul>\n<p><\/p>\n<p><b>Definice:<\/b><i> Pokud \u0159\u00eddic\u00ed syst\u00e9m (\u0158S) obsahuje v\u0161echny v\u00fd\u0161e uveden\u00e9 \u010d\u00e1sti, je uzav\u0159en\u00fd.<\/i><\/p>\n<p><\/p>\n<p><b>Definice:<\/b> <i>\u0158\u00edzen\u00ed technick\u00e9ho objektu s vyu\u017eit\u00edm informac\u00ed o v\u00fdsledc\u00edch \u0159\u00edzen\u00ed se naz\u00fdv\u00e1 princip zp\u011btn\u00e9 vazby.<\/i><\/p>\n<p><\/p>\n<p>Syst\u00e9m \u0159\u00edzen\u00ed m\u016f\u017ee b\u00fdt schematicky zn\u00e1zorn\u011bn jako:<\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/8c48f4621773bbe8620934de7b1c2e16.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Obr. 1.1.1 \u2014 Struktura \u0159\u00eddic\u00edho syst\u00e9mu (\u0158S) <\/i><\/p>\n<p><\/p>\n<p> Pokud \u0159\u00eddic\u00ed syst\u00e9m (\u0158S) m\u00e1 struktur\u00e1ln\u00ed sch\u00e9ma, jeho\u017e vzhled odpov\u00edd\u00e1 obr. 1.1.1, a funguje bez \u00fa\u010dasti \u010dlov\u011bka (oper\u00e1tora), naz\u00fdv\u00e1 se <u>syst\u00e9m automatick\u00e9ho \u0159\u00edzen\u00ed (SAR)<\/u>.<\/p>\n<p><\/p>\n<p> Pokud \u0158S funguje s \u00fa\u010dast\u00ed \u010dlov\u011bka (oper\u00e1tora), naz\u00fdv\u00e1 se <u>automatizovan\u00fd \u0158S<\/u>.<\/p>\n<p><\/p>\n<p> Pokud \u0158\u00edzen\u00ed zaji\u0161\u0165uje stanoven\u00fd z\u00e1kon zm\u011bny objektu v \u010dase nez\u00e1visle na v\u00fdsledc\u00edch \u0159\u00edzen\u00ed, pak se takov\u00e9 \u0159\u00edzen\u00ed prov\u00e1d\u00ed v otev\u0159en\u00e9m cyklu a samotn\u00e9 \u0159\u00edzen\u00ed se naz\u00fdv\u00e1 <u>programov\u00e9 \u0159\u00edzen\u00ed<\/u>.<\/p>\n<p><\/p>\n<p> K syst\u00e9m\u016fm pracuj\u00edc\u00edm v otev\u0159en\u00e9m cyklu pat\u0159\u00ed pr\u016fmyslov\u00e9 automaty (dopravn\u00edky, rota\u010dn\u00ed linky atd.), stroje s \u010d\u00edslicov\u00fdm programov\u00fdm \u0159\u00edzen\u00edm (\u010cP\u0158): viz p\u0159\u00edklad na obr. 1.1.2.<\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/20c14fed7423b8be82da94b8e0eceae7.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Obr. 1.1.2 \u2014 P\u0159\u00edklady programov\u00e9ho \u0159\u00edzen\u00ed<\/i><\/p>\n<p><\/p>\n<p>Zp\u0159es\u0148uj\u00edc\u00ed za\u0159\u00edzen\u00ed m\u016f\u017ee b\u00fdt nap\u0159\u00edklad i \"kop\u00edrovac\u00ed za\u0159\u00edzen\u00ed\".<\/p>\n<p><\/p>\n<p>Jeliko\u017e v tomto p\u0159\u00edkladu nejsou \u017e\u00e1dn\u00e9 senzory (m\u011b\u0159i\u010de), kter\u00e9 by kontrolovaly vyr\u00e1b\u011bn\u00fd d\u00edl, pokud nap\u0159\u00edklad byl n\u00e1stroj nastaven nespr\u00e1vn\u011b nebo se po\u0161kodil, tak stanoven\u00fd c\u00edl (v\u00fdroba d\u00edlu) nem\u016f\u017ee b\u00fdt dosa\u017een (realizov\u00e1n). Obvykle v syst\u00e9mech tohoto typu pot\u0159ebujeme v\u00fdstupn\u00ed kontrolu, kter\u00e1 pouze zaznamen\u00e1 odchylky rozm\u011br\u016f a tvaru d\u00edlu od po\u017eadovan\u00e9ho.<\/p>\n<p><\/p>\n<p> Automatick\u00e9 \u0159\u00eddic\u00ed syst\u00e9my se d\u011bl\u00ed do 3 typ\u016f: <\/p>\n<p><\/p>\n<ul>\n<li> syst\u00e9my automatick\u00e9ho \u0159\u00edzen\u00ed (SAR); <\/li>\n<li> syst\u00e9my automatick\u00e9ho regulov\u00e1n\u00ed (SAR);<\/li>\n<li> sledovac\u00ed syst\u00e9my (SS). <\/li>\n<\/ul>\n<p><\/p>\n<p>SAR a SS jsou podmno\u017einami SAR ==&gt; <img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/21f340c84febe0f6ab25cc5c9256dfb1.jpg\" style=\"display:block;margin: 0 auto;\" \/>.<\/p>\n<p><\/p>\n<p>Definice: Automatizovan\u00fd \u0159\u00eddic\u00ed syst\u00e9m, kter\u00fd zaji\u0161\u0165uje stabilitu ur\u010dit\u00e9 fyzik\u00e1ln\u00ed veli\u010diny (skupiny veli\u010din) v \u0159\u00edzen\u00e9m objektu, se naz\u00fdv\u00e1 syst\u00e9m automatick\u00e9ho regulov\u00e1n\u00ed (SAR).<\/p>\n<p><\/p>\n<p> Syst\u00e9my automatick\u00e9ho regulov\u00e1n\u00ed (SAR) jsou nejb\u011b\u017en\u011bj\u0161\u00edm typem automatizovan\u00fdch \u0159\u00eddic\u00edch syst\u00e9m\u016f.<\/p>\n<p><\/p>\n<p> Prvn\u00ed na sv\u011bt\u011b automatick\u00fd regul\u00e1tor (18. stolet\u00ed) \u2013 regul\u00e1tor Watt. Tato sch\u00e9ma (viz obr. 1.1.3) byla realizov\u00e1na Wattovou technikou v Anglii pro udr\u017een\u00ed konstantn\u00ed rychlosti ot\u00e1\u010den\u00ed kola parn\u00edho stroje a t\u00edm i pro udr\u017een\u00ed stability rychlosti ot\u00e1\u010den\u00ed (pohybu) \u0159emenice (p\u00e1su) p\u0159evodovky.<\/p>\n<p><\/p>\n<p> V t\u00e9to sch\u00e9m\u011b <i>citliv\u00e9 elementy<\/i> (m\u011b\u0159\u00edc\u00ed senzory) jsou \u201cz\u00e1va\u017e\u00ed\u201d (sf\u00e9ry). \u201eZ\u00e1va\u017e\u00ed\u201c (sf\u00e9ry) tak\u00e9 \u201epoh\u00e1n\u011bj\u00ed\u201c p\u00e1kov\u00fd mechanismus a n\u00e1sledn\u011b uzav\u00edrac\u00ed ventil. Tuto syst\u00e9m lze proto pova\u017eovat za syst\u00e9m p\u0159\u00edm\u00e9ho regulov\u00e1n\u00ed, a regul\u00e1tor za <u>regul\u00e1tor p\u0159\u00edm\u00e9ho \u00fa\u010dinku<\/u>, proto\u017ee sou\u010dasn\u011b pln\u00ed funkce jak \u201em\u011b\u0159i\u010de\u201c, tak \u201eregul\u00e1toru\u201c. <\/p>\n<p>\nU regul\u00e1tor\u016f p\u0159\u00edm\u00e9ho \u00fa\u010dinku <i>dodate\u010dn\u00fd zdroj<\/i> energie pro pohyb regula\u010dn\u00edho org\u00e1nu nen\u00ed pot\u0159eba. <\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/95d2c1901c2cc5e962a5c5c23643f155.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Obr. 1.1.3 \u2014 Sch\u00e9ma automatick\u00e9ho regul\u00e1toru Watt<\/i><\/p>\n<p>V syst\u00e9mech nep\u0159\u00edm\u00e9ho regulov\u00e1n\u00ed je nutn\u00e1 p\u0159\u00edtomnost (existence) zesilova\u010de (nap\u0159\u00edklad v\u00fdkonov\u00e9ho), dodate\u010dn\u00e9ho aktiva\u010dn\u00edho mechanismu, kter\u00fd m\u016f\u017ee obsahovat nap\u0159\u00edklad elektromotor, servomotor, hydraulick\u00fd pohon atd.<\/p>\n<p><\/p>\n<p> P\u0159\u00edkladem SAU (syst\u00e9mu automatick\u00e9ho \u0159\u00edzen\u00ed), v pln\u00e9m smyslu tohoto definice, m\u016f\u017ee b\u00fdt syst\u00e9m \u0159\u00edzen\u00ed, kter\u00fd zaji\u0161\u0165uje v\u00fdstup rakety na orbitu, kde \u0159\u00edzenou veli\u010dinou m\u016f\u017ee b\u00fdt, nap\u0159\u00edklad, \u00fahel mezi osou rakety a norm\u00e1lou k Zemi ==&gt; viz obr. 1.1.4.a a obr. 1.1.4.b <\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/e524a79caac45ea0e624938463f7b48e.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Obr. 1.1.4 (a)<\/i><br \/>\n<img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/a1f4ec58f29971dc866627f3cd5f8f44.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Obr. 1.1.4 (b)<\/i><\/p>\n<p><\/p>\n<h2>1.2. Struktura \u0159\u00eddic\u00edch syst\u00e9m\u016f: jednoduch\u00e9 a v\u00edcerozm\u011brn\u00e9 syst\u00e9my<\/h2>\n<p><\/p>\n<p>V teorii \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f je ka\u017ed\u00e1 syst\u00e9m tradi\u010dn\u011b rozd\u011blena na sadu \u010dl\u00e1nk\u016f spojen\u00fdch do s\u00ed\u0165ov\u00fdch struktur. V nejjednodu\u0161\u0161\u00edm p\u0159\u00edpad\u011b syst\u00e9m obsahuje jedno \u010dl\u00e1nko, na kter\u00e9 je p\u0159ij\u00edm\u00e1no vstupn\u00ed p\u016fsoben\u00ed (vstup) a na v\u00fdstupu je z\u00edskan\u00e1 odezva syst\u00e9mu (v\u00fdstup).<\/p>\n<p><\/p>\n<p>V teorii \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f se pou\u017e\u00edvaj\u00ed 2 z\u00e1kladn\u00ed zp\u016fsoby prezentace \u010dl\u00e1nk\u016f \u0159\u00eddic\u00edch syst\u00e9m\u016f:<\/p>\n<p><\/p>\n<p> \u2014 ve prom\u011bnn\u00fdch \u201cvstup-v\u00fdstup\u201d;<\/p>\n<p><\/p>\n<p> \u2014 ve stavu prom\u011bnn\u00fdch (podrobn\u011bji viz odd\u00edly 6\u20267). <\/p>\n<p><\/p>\n<p>P\u0159edstavov\u00e1n\u00ed v prom\u011bnn\u00fdch \u201evstup-v\u00fdstup\u201c se obvykle pou\u017e\u00edv\u00e1 pro popis relativn\u011b jednoduch\u00fdch syst\u00e9m\u016f, kter\u00e9 maj\u00ed jeden \u201evstup\u201c (jedno \u0159\u00eddic\u00ed p\u016fsoben\u00ed) a jeden \u201ev\u00fdstup\u201c (jednu regulovanou veli\u010dinu, viz obr\u00e1zek 1.2.1).<\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/5771bf37f683d56890681a739ec80416.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Obr. 1.2.1 \u2013 Sch\u00e9matick\u00e9 zn\u00e1zorn\u011bn\u00ed jednoduch\u00e9ho \u0159\u00eddic\u00edho syst\u00e9mu<\/i><\/p>\n<p><\/p>\n<p>Obvykle se tento popis pou\u017e\u00edv\u00e1 pro technicky jednodu\u0161\u0161\u00ed S\u0158S (syst\u00e9my \u0159\u00edzen\u00ed a regulace).<\/p>\n<p><\/p>\n<p>V posledn\u00ed dob\u011b se \u0161iroce pou\u017e\u00edv\u00e1 p\u0159edstavov\u00e1n\u00ed v prom\u011bnn\u00fdch stavu, zejm\u00e9na pro technicky slo\u017eit\u00e9 syst\u00e9my, v\u010detn\u011b v\u00edcerozm\u011brn\u00fdch S\u0158S. Na obr\u00e1zku 1.2.2 je uvedeno sch\u00e9matick\u00e9 zn\u00e1zorn\u011bn\u00ed v\u00edcerozm\u011brn\u00e9ho automatick\u00e9ho \u0159\u00eddic\u00edho syst\u00e9mu, kde <b><i>u1(t)\u2026um(t)<\/i><\/b> \u2014 \u0159\u00eddic\u00ed p\u016fsoben\u00ed (vektor \u0159\u00edzen\u00ed), <i><b>y1(t)\u2026yp(t)<\/b><\/i> \u2014 regulovan\u00e9 parametry S\u0158S (vektor v\u00fdstupu). <\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/d0025fbc783222e6f87a5a9f56945785.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Obr. 1.2.2 \u2014 Sch\u00e9matick\u00e9 zn\u00e1zorn\u011bn\u00ed v\u00edcerozm\u011brn\u00e9ho \u0159\u00eddic\u00edho syst\u00e9mu<\/i><\/p>\n<p>Poj\u010fme podrobn\u011bji prozkoumat strukturu S\u0158S, kterou jsme p\u0159edstavili v prom\u011bnn\u00fdch \u201evstup-v\u00fdstup\u201c a kter\u00e1 m\u00e1 jeden vstup (vstupn\u00ed nebo nastavovac\u00ed \u010di \u0159\u00eddic\u00ed p\u016fsoben\u00ed) a jeden v\u00fdstup (v\u00fdstupn\u00ed p\u016fsoben\u00ed nebo \u0159\u00edzen\u00e1 (nebo regulovan\u00e1) prom\u011bnn\u00e1).<\/p>\n<p><\/p>\n<p>P\u0159edpokl\u00e1dejme, \u017ee struktur\u00e1ln\u00ed sch\u00e9ma takov\u00e9ho S\u0158S se skl\u00e1d\u00e1 z ur\u010dit\u00e9ho po\u010dtu prvk\u016f ( \u010dl\u00e1nk\u016f). Skupinou \u010dl\u00e1nk\u016f podle funk\u010dn\u00edho principu (co \u010dl\u00e1nky d\u011blaj\u00ed) lze struktur\u00e1ln\u00ed sch\u00e9ma S\u0158S uv\u00e9st do n\u00e1sleduj\u00edc\u00edho typov\u00e9ho vzhledu: <\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/21b4fe1c08c1a168d1d68c0f47c3c186.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Obr. 1.2.3 \u2014 Struktur\u00e1ln\u00ed sch\u00e9ma syst\u00e9mu automatick\u00e9ho \u0159\u00edzen\u00ed<\/i><\/p>\n<p><\/p>\n<p>Symbol <b><i>\u03b5(t)<\/i><\/b> nebo prom\u011bnn\u00e1<b> <i>\u03b5(t)<\/i><\/b> ozna\u010duje nesoulad (chybu) na v\u00fdstupu porovn\u00e1vac\u00edho za\u0159\u00edzen\u00ed, kter\u00e9 m\u016f\u017ee \u201epracovat\u201c v re\u017eimu jednoduch\u00fdch porovn\u00e1vac\u00edch aritmetick\u00fdch operac\u00ed (nej\u010dast\u011bji od\u010d\u00edt\u00e1n\u00ed, m\u00e9n\u011b \u010dasto s\u010d\u00edt\u00e1n\u00ed) i slo\u017eit\u011bj\u0161\u00edch porovn\u00e1vac\u00edch operac\u00ed (procedur).<\/p>\n<p><\/p>\n<p>Proto\u017ee<i> <b>y1(t) = y(t)*k1<\/b><\/i>, kde <i><b>k1<\/b><\/i> \u2014 zesilovac\u00ed koeficient, tedy ==&gt; <br \/>\n<b><i>\u03b5(t) = x(t) \u2014 y1(t) = x(t) \u2014 k1*y(t)<\/i><\/b><\/p>\n<p><\/p>\n<p>\u00dakolem \u0159\u00eddic\u00edho syst\u00e9mu je (pokud je stabiln\u00ed), aby \u201epracoval\u201c na zni\u010den\u00ed nesouladu (chyby) <b><i>\u03b5(t)<\/i><\/b>, tj. ==&gt;<b> <i>\u03b5(t) \u2192 0<\/i><\/b>.<\/p>\n<p><\/p>\n<p>Je t\u0159eba poznamenat, \u017ee na syst\u00e9m \u0159\u00edzen\u00ed p\u016fsob\u00ed jak vn\u011bj\u0161\u00ed vlivy (\u0159\u00edzen\u00ed, ru\u0161en\u00ed, interference), tak vnit\u0159n\u00ed ru\u0161en\u00ed. Ru\u0161en\u00ed se od vlivu li\u0161\u00ed stochasti\u010dnost\u00ed (n\u00e1hodnost\u00ed) sv\u00e9ho v\u00fdskytu, zat\u00edmco vliv je t\u00e9m\u011b\u0159 v\u017edy determinovan\u00fd.<\/p>\n<p><\/p>\n<p>Pro ozna\u010den\u00ed \u0159\u00eddic\u00edho (vykon\u00e1vaj\u00edc\u00edho vliv) pou\u017eijeme bu\u010f<i><b> x(t)<\/b><\/i>, nebo <i><b>u(t)<\/b><\/i>.<\/p>\n<p><\/p>\n<h2>1.3. Z\u00e1kladn\u00ed z\u00e1kony \u0159\u00edzen\u00ed<\/h2>\n<p><\/p>\n<p>Pokud se vr\u00e1t\u00edme k posledn\u00edmu obr\u00e1zku (struktur\u00e1ln\u00ed sch\u00e9ma \u0158\u00edzen\u00ed na obr. 1.2.3), je nutn\u00e9 \"de\u0161ifrovat\" \u00falohu, kterou hraje zesilovac\u00ed a p\u0159em\u011b\u0148ovac\u00ed za\u0159\u00edzen\u00ed (jak\u00e9 funkce vykon\u00e1v\u00e1).<\/p>\n<p><\/p>\n<p>Pokud zesilovac\u00ed a p\u0159em\u011b\u0148ovac\u00ed za\u0159\u00edzen\u00ed (ZPZ) vykon\u00e1v\u00e1 pouze zes\u00edlen\u00ed (nebo oslaben\u00ed) sign\u00e1lu nesouladu \u03b5(t), konkr\u00e9tn\u011b: <b><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/0c09aa2ad2d14cb6d2f5666e33441afa.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/b>, kde <img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/be9dd549e8715f43c40c581217f29e3b.jpg\" style=\"display:block;margin: 0 auto;\" \/>\u2013 koeficient \u00fam\u011brnosti (v zvl\u00e1\u0161tn\u00edm p\u0159\u00edpad\u011b <img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/e16fccbb0217b69120081cd963525f6e.jpg\" style=\"display:block;margin: 0 auto;\" \/> = Const), naz\u00fdv\u00e1 se takov\u00fd re\u017eim \u0159\u00edzen\u00ed uzav\u0159en\u00e9ho \u0158\u00edzen\u00ed re\u017eimem <u>proporcionaln\u00edho \u0159\u00edzen\u00ed <\/u>(P-\u0159\u00edzen\u00ed).<\/p>\n<p><\/p>\n<p>Pokud ZPZ vytv\u00e1\u0159\u00ed v\u00fdstupn\u00ed sign\u00e1l \u03b51(t), kter\u00fd je \u00fam\u011brn\u00fd chyb\u011b \u03b5(t) a integr\u00e1lu z \u03b5(t), tj. <img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/6e6dbb0b4de0d9aaa3f6f788e61a3830.jpg\" style=\"display:block;margin: 0 auto;\" \/>, pak se takov\u00fd re\u017eim \u0159\u00edzen\u00ed naz\u00fdv\u00e1 <u>proporcionaln\u011b-integra\u010dn\u00ed<\/u> (PI-\u0159\u00edzen\u00ed). ==&gt; <img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/9dd1d2b339c33e975225d3438d39bc6c.jpg\" style=\"display:block;margin: 0 auto;\" \/>, kde <i>b<\/i> \u2013 koeficient \u00fam\u011brnosti (v zvl\u00e1\u0161tn\u00edm p\u0159\u00edpad\u011b <i>b = Const<\/i>). \n <\/p>\n<p><\/p>\n<p>Obvykle se PI-\u0159\u00edzen\u00ed pou\u017e\u00edv\u00e1 ke zvy\u0161ov\u00e1n\u00ed p\u0159esnosti \u0159\u00edzen\u00ed (regulace).<\/p>\n<p><\/p>\n<p>Pokud ZPZ vytv\u00e1\u0159\u00ed v\u00fdstupn\u00ed sign\u00e1l \u03b51(t), kter\u00fd je \u00fam\u011brn\u00fd chyb\u011b \u03b5(t) a jej\u00ed derivaci, pak se takov\u00fd re\u017eim naz\u00fdv\u00e1<u> proporcionaln\u011b-diferenci\u00e1ln\u00ed<\/u> (PD-\u0159\u00edzen\u00ed): ==&gt; <img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/53491162f89bb3eb6d3afe53f8499ef7.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>Obvykle pou\u017eit\u00ed PD-\u0159\u00edzen\u00ed zvy\u0161uje rychlost \u0158\u00edzen\u00ed<\/p>\n<p><\/p>\n<p>Pokud ZPZ vytv\u00e1\u0159\u00ed v\u00fdstupn\u00ed sign\u00e1l \u03b51(t), \u00fam\u011brn\u00fd chyb\u011b \u03b5(t), jej\u00ed derivaci a integr\u00e1lu z chyby ==&gt; <img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/8ebae93d72b03b5c107a1246c077c348.jpg\" style=\"display:block;margin: 0 auto;\" \/>, pak je tento re\u017eim \u0159\u00edzen\u00ed naz\u00fdv\u00e1n <u>proporcionaln\u011b-integra\u010dn\u011b-diferenci\u00e1ln\u00edm \u0159\u00edzen\u00edm<\/u> (PID-\u0159\u00edzen\u00ed).<\/p>\n<p><\/p>\n<p>PID-\u0159\u00edzen\u00ed \u010dasto umo\u017e\u0148uje dos\u00e1hnout \"dobr\u00e9\" p\u0159esnosti \u0159\u00edzen\u00ed p\u0159i \"dobr\u00e9\" rychlosti <\/p>\n<p><\/p>\n<h2>1.4. Klasifikace syst\u00e9m\u016f automatick\u00e9ho \u0159\u00edzen\u00ed <\/h2>\n<p><\/p>\n<h3>1.4.1. Klasifikace podle typu matematick\u00e9ho popisu<\/h3>\n<p><\/p>\n<p>Podle typu matematick\u00e9ho popisu (rovnice dynamiky a statiky) se syst\u00e9my automatick\u00e9ho \u0159\u00edzen\u00ed (S\u0158) d\u011bl\u00ed na <u>line\u00e1rn\u00ed<\/u> a <u>neline\u00e1rn\u00ed<\/u> syst\u00e9my (S\u0158 nebo SAR). <\/p>\n<p><\/p>\n<p>Ka\u017ed\u00fd \u201epodtyp\u201c (line\u00e1rn\u00edch a neline\u00e1rn\u00edch) se d\u011bl\u00ed na dal\u0161\u00ed \u0159adu \u201epodtyp\u016f\u201c. Nap\u0159\u00edklad line\u00e1rn\u00ed S\u00c1U (SAR) se li\u0161\u00ed podle typu matematick\u00e9ho popisu. <br \/>\nProto\u017ee v tomto semestru budou prob\u00edr\u00e1na dynamick\u00e1 vlastnosti pouze line\u00e1rn\u00edch syst\u00e9m\u016f automatick\u00e9ho \u0159\u00edzen\u00ed (regulace), uv\u00e1d\u00edme n\u00ed\u017ee klasifikaci podle typu matematick\u00e9ho popisu pro line\u00e1rn\u00ed S\u00c1U (SAR): <\/p>\n<p><\/p>\n<p>1) Line\u00e1rn\u00ed syst\u00e9my automatick\u00e9ho \u0159\u00edzen\u00ed, popsan\u00e9 ve prom\u011bnn\u00fdch \u201evstup-v\u00fdstup\u201c oby\u010dejn\u00fdmi diferenci\u00e1ln\u00edmi rovnicemi (ODU) s <u>konstantn\u00edmi <\/u>koeficienty:<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/cb3af3b0b89fc1e74c2b8d6d2d7fdb22.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/58090b17da60d2b517d3c94501cd59a2.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p>\nkde <i>x(t)<\/i> \u2013 vstupn\u00ed vliv; <i>y(t)<\/i> \u2013 v\u00fdstupn\u00ed vliv (regulovan\u00e1 veli\u010dina). <\/p>\n<p>Pokud pou\u017eijeme oper\u00e1torovou (\u201ekompaktn\u00ed\u201c) formu z\u00e1pisu line\u00e1rn\u00edho ODU, lze rovnici (1.4.1) napsat n\u00e1sleduj\u00edc\u00edm zp\u016fsobem: \n<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/b1c5ee221af3668d5f176a70ed14418f.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p> kde, <i>p = d\/dt<\/i> \u2013 oper\u00e1tor diferenciace; <i>L(p), N(p)<\/i> \u2013 odpov\u00eddaj\u00edc\u00ed line\u00e1rn\u00ed diferenci\u00e1ln\u00ed oper\u00e1tory, kter\u00e9 jsou rovny:<\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/d43a08bffa114c25041a2f0980042c51.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/42636426b82dce860e9e17987f50c057.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>2) Line\u00e1rn\u00ed syst\u00e9my automatick\u00e9ho \u0159\u00edzen\u00ed, popsan\u00e9 line\u00e1rn\u00edmi oby\u010dejn\u00fdmi diferenci\u00e1ln\u00edmi rovnicemi (ODU) s <u>prom\u011bnn\u00fdmi <\/u>(v \u010dase) koeficienty: \n<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/6dbc99fe9b268fe6f6ff996975637e1c.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/829ce6f7e73bfb06b4b76d0d4eeeef34.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>Obecn\u011b takov\u00e9 syst\u00e9my m\u016f\u017eeme za\u0159adit i do t\u0159\u00eddy neline\u00e1rn\u00edch S\u00c1U (SAR).<\/p>\n<p><\/p>\n<p>3) Line\u00e1rn\u00ed syst\u00e9my automatick\u00e9ho \u0159\u00edzen\u00ed, popsan\u00e9 line\u00e1rn\u00edmi diferenn\u010dn\u00edmi rovnicemi: <\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/3ff7a042761c218b77ac2263e548642c.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/1adb8b5de9da0717c1d8af58023709db.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p> kde <i>f(\u2026)<\/i> \u2013 line\u00e1rn\u00ed funkce argument\u016f;<i> k = 1, 2, 3\u2026<\/i> \u2013 cel\u00e9 \u010d\u00edsla; <i>\u0394t<\/i> \u2013 interval kvantov\u00e1n\u00ed (interval diskretizace). <\/p>\n<p>Rovnice (1.4.4) lze zapsat v \u201ekompaktn\u00ed\u201c form\u011b:\n<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/3a555933ea0689d2adee3746d6ddeaad.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>Obvykle se takov\u00fd popis line\u00e1rn\u00edch S\u00c1U (SAR) pou\u017e\u00edv\u00e1 v digit\u00e1ln\u00edch kontroln\u00edch syst\u00e9mech (s pou\u017eit\u00edm EDP). <\/p>\n<p><\/p>\n<p>4) Line\u00e1rn\u00ed syst\u00e9my automatick\u00e9ho \u0159\u00edzen\u00ed se zpo\u017ed\u011bn\u00edm:\n<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/7feca1e387cb0c6a1689e22d95e28a63.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p>\nkde <i>L(p), N(p)<\/i> \u2013 line\u00e1rn\u00ed diferenn\u010dn\u00ed oper\u00e1tory; <i>\u03c4<\/i> \u2013 \u010das zpo\u017ed\u011bn\u00ed nebo konstanta zpo\u017ed\u011bn\u00ed. <\/p>\n<p>Pokud oper\u00e1tory <i>L(p)<\/i> a <i>N(p)<\/i> se degeneruj\u00ed (<i>L(p) = 1; N(p) = 1<\/i>), pak rovnice (1.4.6) odpov\u00edd\u00e1 matematick\u00e9mu popisu dynamiky \u010dl\u00e1nku ide\u00e1ln\u00edho zpo\u017ed\u011bn\u00ed: \n<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/f3906140de2cd69b5ececf8b527a11e7.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p> a grafick\u00e1 ilustrace jeho vlastnost\u00ed je uvedena na obr. 1.4.1<\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/862f0d412914840cf9f0722087ccfb50.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Obr. 1.4.1 \u2014 Grafy vstupu a v\u00fdstupu \u010dl\u00e1nku ide\u00e1ln\u00edho zpo\u017ed\u011bn\u00ed<\/i><\/p>\n<p>5) Line\u00e1rn\u00ed syst\u00e9my automatick\u00e9ho \u0159\u00edzen\u00ed, popsan\u00e9 line\u00e1rn\u00edmi diferenci\u00e1ln\u00edmi rovnicemi v <i>parci\u00e1ln\u00edch derivac\u00edch.<\/i>\u010casto se takov\u00e9 S\u00c1U naz\u00fdvaj\u00ed <u>distribuovan\u00fdmi<\/u> syst\u00e9my \u0159\u00edzen\u00ed. ==&gt; \u201eAbstraktn\u00ed\u201c p\u0159\u00edklad takov\u00e9ho popisu:<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/669b5c3c53ba7845842b18e5928ce839.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>Syst\u00e9m rovnic (1.4.7) popisuje dynamiku line\u00e1rn\u011b rozlo\u017een\u00e9ho regula\u010dn\u00edho syst\u00e9mu, t.j. regulovan\u00e1 veli\u010dina z\u00e1vis\u00ed nejen na \u010dase, ale tak\u00e9 na jedn\u00e9 prostorov\u00e9 sou\u0159adnici. <br \/>\nPokud je \u0159\u00eddic\u00ed syst\u00e9m \"prostorov\u00fdm\" objektem, pak ==&gt;<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/3448a365047c1bab4de5e8f25546f50e.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>kde <img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/f9ff2f7da6ef14612bc7debb1a6b13df.jpg\" style=\"display:block;margin: 0 auto;\" \/> z\u00e1vis\u00ed na \u010dase a prostorov\u00fdch sou\u0159adnic\u00edch, kter\u00e9 jsou ur\u010deny polohov\u00fdm vektorem. <img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/779241bc6119457bd084ae3b359be126.jpg\" style=\"display:block;margin: 0 auto;\" \/>\n<\/p>\n<p>6) Regula\u010dn\u00ed syst\u00e9my popisovan\u00e9 <u>syst\u00e9my<\/u> ODU, nebo syst\u00e9my rozd\u00edlov\u00fdch rovnic, nebo syst\u00e9my rovnic s parci\u00e1ln\u00edmi derivacemi ==&gt;, a tak d\u00e1le\u2026<\/p>\n<p><\/p>\n<p>Podobnou klasifikaci lze navrhnout tak\u00e9 pro neline\u00e1rn\u00ed regula\u010dn\u00ed syst\u00e9my (SAR)\u2026<\/p>\n<p><\/p>\n<p>Pro line\u00e1rn\u00ed syst\u00e9my plat\u00ed n\u00e1sleduj\u00edc\u00ed po\u017eadavky:<\/p>\n<ul>\n<li> line\u00e1rnost statick\u00e9 charakteristiky regula\u010dn\u00edho syst\u00e9mu; <\/li>\n<li> line\u00e1rnost rovnice dynamiky, t.j. prom\u011bnn\u00e9 ve rovnice dynamiky se objevuj\u00ed <u>pouze v line\u00e1rn\u00ed kombinaci.<\/u> <\/li>\n<\/ul>\n<p><\/p>\n<p>Statickou charakteristikou se naz\u00fdv\u00e1 z\u00e1vislost v\u00fdstupu na velikosti vstupn\u00edho vlivu v ust\u00e1len\u00e9m re\u017eimu (kdy\u017e v\u0161echny p\u0159echodov\u00e9 procesy ustaly). <\/p>\n<p><\/p>\n<p>Pro syst\u00e9my popisovan\u00e9 line\u00e1rn\u00edmi oby\u010dejn\u00fdmi diferenci\u00e1ln\u00edmi rovnicemi s konstantn\u00edmi koeficienty se statick\u00e1 charakteristika z\u00edsk\u00e1v\u00e1 z rovnice dynamiky (1.4.1) p\u0159i p\u0159iv\u00e1d\u011bn\u00ed v\u0161ech nestacion\u00e1rn\u00edch \u010dlen\u016f k nule ==&gt;\n<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/bf0c596f0264b56e910f26fb3572d495.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>Na obr. 1.4.2 jsou uvedeny p\u0159\u00edklady line\u00e1rn\u00edch a neline\u00e1rn\u00edch statick\u00fdch charakteristik automatick\u00fdch \u0159\u00eddic\u00edch syst\u00e9m\u016f (regulace). <\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/492e67e54fc30c8ffc81dbd922d44d69.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Obr. 1.4.2 \u2014 P\u0159\u00edklady statick\u00fdch line\u00e1rn\u00edch a neline\u00e1rn\u00edch charakteristik<\/i><\/p>\n<p>Nelinearita \u010dlen\u016f obsahuj\u00edc\u00edch derivace podle \u010dasu v rovnic\u00edch dynamiky m\u016f\u017ee vzniknout p\u0159i pou\u017eit\u00ed neline\u00e1rn\u00edch matematick\u00fdch operac\u00ed (*, \/, <img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/2cb392451693aaecdf1b0b3c9d893b64.jpg\" style=\"display:block;margin: 0 auto;\" \/>, <img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/9b1e329d4a85a2633bbbc4f4ab024200.jpg\" style=\"display:block;margin: 0 auto;\" \/>, sin, ln atd.). Nap\u0159\u00edklad zva\u017euj\u00edc rovnici dynamiky jist\u00e9ho \"abstraktn\u00edho\" regula\u010dn\u00edho syst\u00e9mu<\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/dae16ed9af4777cc0574d633840de24b.jpg\" style=\"display:block;margin: 0 auto;\" \/><\/p>\n<p><\/p>\n<p>poznamen\u00e1me, \u017ee v t\u00e9to rovnici p\u0159i line\u00e1rn\u00ed statick\u00e9 charakteristice <img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/ef499e876cf4b9835a61605b9155144c.jpg\" style=\"display:block;margin: 0 auto;\" \/> druh\u00e9 a t\u0159et\u00ed \u010dleny (dynamick\u00e9 \u010dleny) na lev\u00e9 stran\u011b rovnice \u2014 <u>neline\u00e1rn\u00ed<\/u>, proto je regula\u010dn\u00ed syst\u00e9m popisovan\u00fd takovou rovnic\u00ed <u>neline\u00e1rn\u00ed v <i>dynamick\u00e9m<\/i> pl\u00e1nu<\/u>.<\/p>\n<p><\/p>\n<h3>1.4.2. Klasifikace podle charakteru p\u0159en\u00e1\u0161en\u00fdch sign\u00e1l\u016f<\/h3>\n<p><\/p>\n<p>Podle charakteru p\u0159en\u00e1\u0161en\u00fdch sign\u00e1l\u016f se syst\u00e9my automatick\u00e9ho \u0159\u00edzen\u00ed (nebo regulace) d\u011bl\u00ed na: <\/p>\n<ul>\n<li> nepokra\u010duj\u00edc\u00ed syst\u00e9my (syst\u00e9my nep\u0159etr\u017eit\u00e9ho p\u016fsoben\u00ed);<\/li>\n<li> releov\u00e9 syst\u00e9my (syst\u00e9my rel\u00e9ov\u00e9ho p\u016fsoben\u00ed);<\/li>\n<li> syst\u00e9my diskr\u00e9tn\u00edho p\u016fsoben\u00ed (impulzn\u00ed a digit\u00e1ln\u00ed).<\/li>\n<\/ul>\n<p><\/p>\n<p>Syst\u00e9m <u>nep\u0159etr\u017eit\u00e9ho<\/u> akce se naz\u00fdv\u00e1 takov\u00fd regula\u010dn\u00ed syst\u00e9m, v n\u011bm\u017e v ka\u017ed\u00e9m z \u010dl\u00e1nk\u016f <u>nep\u0159etr\u017eit\u00e9mu<\/u> zm\u011bn\u011b vstupn\u00edho sign\u00e1lu v \u010dase <u>odpov\u00edd\u00e1 nep\u0159etr\u017eit\u00e9<\/u> zm\u011bn\u011b v\u00fdstupn\u00edho sign\u00e1lu, p\u0159i\u010dem\u017e z\u00e1kon zm\u011bny v\u00fdstupn\u00edho sign\u00e1lu m\u016f\u017ee b\u00fdt libovoln\u00fd. Aby byl regula\u010dn\u00ed syst\u00e9m nep\u0159etr\u017eit\u00fd, je t\u0159eba, aby statick\u00e9 charakteristiky v\u0161ech <u>\u010dl\u00e1nk\u016f byly nep\u0159etr\u017eit\u00e9.<\/u><\/p>\n<\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/73b156157b5a43c62fdc848170722c2d.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Obr. 1.4.3 \u2014 P\u0159\u00edklad nep\u0159etr\u017eit\u00e9ho syst\u00e9mu<\/i><\/p>\n<p>Syst\u00e9m <u>rel\u00e9ov\u00e9ho<\/u> jedn\u00e1n\u00ed se naz\u00fdv\u00e1 regula\u010dn\u00ed syst\u00e9m, ve kter\u00e9m alespo\u0148 v jednom \u010dl\u00e1nku p\u0159i nep\u0159etr\u017eit\u00e9 zm\u011bn\u011b vstupn\u00ed veli\u010diny v\u00fdstupn\u00ed veli\u010dina v n\u011bkter\u00fdch okam\u017eic\u00edch procesu \u0159\u00edzen\u00ed m\u011bn\u00ed \u201eskokov\u011b\u201c v z\u00e1vislosti na velikosti vstupn\u00edho sign\u00e1lu. Statick\u00e1 charakteristika takov\u00e9ho \u010dl\u00e1nku m\u00e1 <u>diskontinuitn\u00ed body<\/u> nebo <u>zlomu s p\u0159eru\u0161en\u00edm<\/u>.<\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/edfc6a65398bb0f409297d40a3aee0e2.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Obr. 1.4.4 \u2014 P\u0159\u00edklady rel\u00e9ov\u00fdch statick\u00fdch charakteristik<\/i><\/p>\n<p>Syst\u00e9m <u>diskr\u00e9tn\u00ed<\/u> p\u016fsoben\u00ed se naz\u00fdv\u00e1 syst\u00e9m, ve kter\u00e9m alespo\u0148 v jednom \u010dl\u00e1nku p\u0159i nep\u0159etr\u017eit\u00e9 zm\u011bn\u011b vstupn\u00ed veli\u010diny v\u00fdstupn\u00ed veli\u010dina m\u00e1 <u>tvar jednotliv\u00fdch impuls\u016f<\/u>, objevuj\u00edc\u00edch se po n\u011bjak\u00e9m \u010dasov\u00e9m intervalu. <\/p>\n<p><\/p>\n<p>\u010cl\u00e1nek, kter\u00fd p\u0159etv\u00e1\u0159\u00ed nep\u0159etr\u017eit\u00fd sign\u00e1l na diskr\u00e9tn\u00ed sign\u00e1l, se naz\u00fdv\u00e1 impulzn\u00ed. Takov\u00fd typ p\u0159en\u00e1\u0161en\u00fdch sign\u00e1l\u016f existuje v regula\u010dn\u00edm syst\u00e9mu s po\u010d\u00edta\u010dem nebo kontrol\u00e9rem. <\/p>\n<p><\/p>\n<p>Nej\u010dast\u011bji se realizuj\u00ed n\u00e1sleduj\u00edc\u00ed metody (algoritmy) p\u0159etv\u00e1\u0159en\u00ed nep\u0159etr\u017eit\u00e9ho vstupn\u00edho sign\u00e1lu na impulzn\u00ed v\u00fdstupn\u00ed sign\u00e1l: <\/p>\n<ul>\n<li> amplitudov\u011b-impulsn\u00ed modulace (AIM); <\/li>\n<li> \u0161\u00ed\u0159kov\u011b-impulsn\u00ed modulace (\u0160IM). <\/li>\n<\/ul>\n<p><\/p>\n<p>Na obr. 1.4.5 je grafick\u00e1 ilustrace algoritmu amplitudov\u011b-impulsn\u00ed modulace (AIM). V horn\u00ed \u010d\u00e1sti obr. je zn\u00e1zorn\u011bna \u010dasov\u00e1 z\u00e1vislost <i>x(t)<\/i> \u2014 sign\u00e1lu <u>na vstupu<\/u> v impulzn\u00edm \u010dl\u00e1nku. V\u00fdstupn\u00ed sign\u00e1l impulzn\u00edho bloku (\u010dl\u00e1nku) <i>y(t)<\/i> \u2013 sekvence obd\u00e9ln\u00edkov\u00fdch impuls\u016f, objevuj\u00edc\u00edch se s <u>St\u00e1lou<\/u> kvantiza\u010dn\u00edm obdob\u00edm \u0394t (viz doln\u00ed \u010d\u00e1st obr.). D\u00e9lka impuls\u016f je stejn\u00e1 a rovna \u0394. Amplituda impulsu na v\u00fdstupu bloku je \u00fam\u011brn\u00e1 odpov\u00eddaj\u00edc\u00ed velikosti nep\u0159etr\u017eit\u00e9ho sign\u00e1lu x(t) na vstupu tohoto bloku. <\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/c9a3c132c1ad71a56582f30d6d11f847.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Obr. 1.4.5 \u2014 Realizace amplitudov\u011b-impulsn\u00ed modulace<\/i><\/p>\n<p>Tato metoda impulsn\u00ed modulace byla velmi roz\u0161\u00ed\u0159en\u00e1 v elektronick\u00fdch m\u011b\u0159\u00edc\u00edch p\u0159\u00edstroj\u00edch syst\u00e9m\u016f \u0159\u00edzen\u00ed a ochrany (S\u0158O) jadern\u00fdch energetick\u00fdch za\u0159\u00edzen\u00ed (JEZ) v 70. a 80. letech minul\u00e9ho stolet\u00ed. <\/p>\n<p><\/p>\n<p>Na obr\u00e1zku 1.4.6 je zn\u00e1zorn\u011bna grafick\u00e1 ilustrace algoritmu \u0161\u00ed\u0159kov\u011b impulzn\u00ed modulace (\u0160IM). V horn\u00ed \u010d\u00e1sti obr\u00e1zku 1.14 je zn\u00e1zorn\u011bna \u010dasov\u00e1 z\u00e1vislost <i>x(t)<\/i> \u2013 sign\u00e1lu na vstupu impulzn\u00edho \u010dl\u00e1nku. V\u00fdstupn\u00ed sign\u00e1l impulzn\u00edho bloku (\u010dl\u00e1nku) <i>y(t)<\/i> \u2013 sekvence obd\u00e9ln\u00edkov\u00fdch impuls\u016f, kter\u00e9 se objevuj\u00ed s konstantn\u00edm kvantovac\u00edm obdob\u00edm <i>\u0394t <\/i>(viz. doln\u00ed \u010d\u00e1st obr\u00e1zku 1.14). Amplituda v\u0161ech impuls\u016f je stejn\u00e1. D\u00e9lka impulsu <i>\u0394t<\/i> na v\u00fdstupu bloku je \u00fam\u011brn\u00e1 odpov\u00eddaj\u00edc\u00ed hodnot\u011b kontinu\u00e1ln\u00edho sign\u00e1lu <i>x(t)<\/i> na vstupu impulzn\u00edho bloku.<\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/e9375a87c49f84b4b20891b024160264.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Obr\u00e1zek 1.4.6 \u2014 Realizace \u0161\u00ed\u0159kov\u011b impulzn\u00ed modulace<\/i><\/p>\n<p>Tato metoda impulzn\u00ed modulace je v sou\u010dasnosti nejroz\u0161\u00ed\u0159en\u011bj\u0161\u00ed v elektronick\u00e9m m\u011b\u0159ic\u00edm za\u0159\u00edzen\u00ed syst\u00e9m\u016f \u0159\u00edzen\u00ed a ochrany (S\u00daZ) jadern\u00fdch energetick\u00fdch za\u0159\u00edzen\u00ed (JAE) a S\u00c1V dal\u0161\u00edch technick\u00fdch syst\u00e9m\u016f.<\/p>\n<p><\/p>\n<p>Na z\u00e1v\u011br t\u00e9to \u010d\u00e1sti je nutn\u00e9 poznamenat, \u017ee pokud jsou charakteristick\u00e9 \u010dasov\u00e9 konstanty v jin\u00fdch \u010dl\u00e1nc\u00edch S\u00c1V (SAR) <u>v\u00fdznamn\u011b v\u011bt\u0161\u00ed<\/u> \u0394t (o n\u011bkolik \u0159\u00e1d\u016f), m\u016f\u017ee b\u00fdt impulzn\u00ed syst\u00e9m <u>pova\u017eov\u00e1n za kontinu\u00e1ln\u00ed syst\u00e9m automatick\u00e9ho \u0159\u00edzen\u00ed (p\u0159i pou\u017eit\u00ed<\/u> jak AIM, tak \u0160IM). <\/p>\n<p><\/p>\n<h3>1.4.3. Klasifikace podle charakteru \u0159\u00edzen\u00ed<\/h3>\n<p><\/p>\n<p>Podle charakteru \u0159\u00eddic\u00edch proces\u016f se syst\u00e9my automatick\u00e9ho \u0159\u00edzen\u00ed d\u011bl\u00ed na n\u00e1sleduj\u00edc\u00ed typy: <\/p>\n<ul>\n<li> deterministick\u00e9 S\u00c1V, kdy m\u016f\u017ee b\u00fdt vstupn\u00edmu sign\u00e1lu jednozna\u010dn\u011b p\u0159i\u0159azen v\u00fdstupn\u00ed sign\u00e1l (a naopak);<\/li>\n<li> stochastick\u00e9 S\u00c1V (statistick\u00e9, pravd\u011bpodobnostn\u00ed), ve kter\u00fdch na dan\u00fd vstupn\u00ed sign\u00e1l S\u00c1V \u201eodpov\u00edd\u00e1\u201c <u>n\u00e1hodn\u00fdm<\/u> (stochastick\u00fdm) v\u00fdstupn\u00edm sign\u00e1lem. <\/li>\n<\/ul>\n<p><\/p>\n<p>V\u00fdstupn\u00ed stochastick\u00fd sign\u00e1l se vyzna\u010duje: <\/p>\n<ul>\n<li>pravidlem rozd\u011blen\u00ed; <\/li>\n<li>matematick\u00fdm o\u010dek\u00e1v\u00e1n\u00edm (pr\u016fm\u011brnou hodnotou); <\/li>\n<li>diskr\u00e9c\u00ed (pr\u016fm\u011brnou odchylkou).<\/li>\n<\/ul>\n<p>\nStochasti\u010dnost charakteru \u0159\u00edzen\u00ed procesu je obvykle pozorov\u00e1na v <u>v\u00fdznamn\u011b neline\u00e1rn\u00edch SAR<\/u> jak z hlediska statick\u00e9 charakteristiky, tak (i v mnohem v\u011bt\u0161\u00ed m\u00ed\u0159e) z pohledu nelinearity dynamick\u00fdch \u010dlen\u016f v dynamick\u00fdch rovnic\u00edch.<\/p>\n<p><\/p>\n<p><img decoding=\"async\" alt=\"\u00davod do teorie automatick\u00e9ho \u0159\u00edzen\u00ed. Hlavn\u00ed pojmy teorie \u0159\u00edzen\u00ed technick\u00fdch syst\u00e9m\u016f\" src=\"\/wp-content\/uploads\/2020\/06\/30bfdc2e2b7df726f11ebfb859c8f094.jpg\" style=\"display:block;margin: 0 auto;\" \/><br \/>\n<i>Obr\u00e1zek 1.4.7 \u2014 Rozd\u011blen\u00ed v\u00fdstupn\u00ed veli\u010diny stochastick\u00e9ho S\u00c1V<\/i><\/p>\n<p>Krom\u011b uveden\u00fdch hlavn\u00edch typ\u016f klasifikace \u0159\u00eddic\u00edch syst\u00e9m\u016f existuj\u00ed i dal\u0161\u00ed klasifikace. Nap\u0159\u00edklad klasifikace m\u016f\u017ee b\u00fdt prov\u00e1d\u011bna podle metody \u0159\u00edzen\u00ed a m\u016f\u017ee b\u00fdt zalo\u017eena na interakci s vn\u011bj\u0161\u00edm prost\u0159ed\u00edm a schopnosti adaptace \u0158S na zm\u011bnu parametr\u016f okoln\u00edho prost\u0159ed\u00ed. Syst\u00e9my se d\u011bl\u00ed do dvou velk\u00fdch t\u0159\u00edd:<\/p>\n<p><\/p>\n<p>1) Obvykl\u00e9 (nesamoreguluj\u00edc\u00ed) \u0158S bez adaptace; tyto syst\u00e9my pat\u0159\u00ed do kategorie jednoduch\u00fdch, kter\u00e9 nem\u011bn\u00ed svou strukturu b\u011bhem \u0159\u00edzen\u00ed. Jsou nejv\u00edce vyvinut\u00e9 a \u0161iroce pou\u017e\u00edvaj\u00ed. Obvykl\u00e9 \u0158S se d\u011bl\u00ed do t\u0159\u00ed podt\u0159\u00edd: otev\u0159en\u00e9, uzav\u0159en\u00e9 a kombinovan\u00e9 \u0159\u00eddic\u00ed syst\u00e9my.<\/p>\n<p><\/p>\n<p>2) Samoreguluj\u00edc\u00ed (adapta\u010dn\u00ed) \u0158S. V t\u011bchto syst\u00e9mech, kdy\u017e dojde ke zm\u011bn\u011b vn\u011bj\u0161\u00edch podm\u00ednek nebo vlastnost\u00ed regulovan\u00e9ho objektu, doch\u00e1z\u00ed k automatick\u00e9 (p\u0159edem nezadan\u00e9) zm\u011bn\u011b parametr\u016f \u0159\u00edd\u00edc\u00edho za\u0159\u00edzen\u00ed d\u00edky zm\u011bn\u011b koeficient\u016f \u0158S, struktury \u0158S nebo dokonce zaveden\u00ed nov\u00fdch prvk\u016f.<\/p>\n<p><\/p>\n<p>Dal\u0161\u00edm p\u0159\u00edkladem klasifikace: podle hierarchick\u00e9ho krit\u00e9ria (jednolo\u017eiskov\u00e9, dvoulo\u017eiskov\u00e9, v\u00edcelo\u017eiskov\u00e9). <\/p>\n<p class=\"for_users_only_msg\">Pouze registrovan\u00ed u\u017eivatel\u00e9 se mohou \u00fa\u010dastnit ankety. <noindex><a rel=\"nofollow\" href=\"https:\/\/habr.com\/ru\/auth\/login\/\">P\u0159ihlaste se<\/a><\/noindex>, pros\u00edm.<\/p>\n<h2 class=\"default-block__polling-title\">Pokra\u010dovat ve vyd\u00e1v\u00e1n\u00ed p\u0159edn\u00e1\u0161ek o UTS?<\/h2>\n<ul class=\"poll-result\">\n<li class=\"poll-result__item\">\n<p>                <strong class=\"poll-result__data-percent  poll-result__data-percent_winner\">88,7%<\/strong>Ano118<\/p>\n<\/li>\n<li class=\"poll-result__item\">\n<p>                <strong class=\"poll-result__data-percent\">7,5%<\/strong>Ne10<\/p>\n<\/li>\n<li class=\"poll-result__item\">\n<p>                <strong class=\"poll-result__data-percent\">3,8%<\/strong>Nev\u00edm5<\/p>\n<\/li>\n<\/ul>\n<p>    Hlasovalo 133 u\u017eivatel\u016f. Zdr\u017eelo se 10 u\u017eivatel\u016f.<br \/>\n<br \/>Zdroj: <a content=\"nofollow\" rel=\"nofollow\" href=\"https:\/\/habr.com\/ru\/post\/503820\/\">habr.com<\/a> <\/p>","protected":false,"gt_translate_keys":[{"key":"rendered","format":"html"}]},"excerpt":{"rendered":"<p>\u041f\u0443\u0431\u043b\u0438\u043a\u0443\u044e \u043f\u0435\u0440\u0432\u0443\u044e \u0433\u043b\u0430\u0432\u0443 \u043b\u0435\u043a\u0446\u0438\u0439 \u043f\u043e \u0442\u0435\u043e\u0440\u0438\u0438 \u0430\u0432\u0442\u043e\u043c\u0430\u0442\u0438\u0447\u0435\u0441\u043a\u043e\u0433\u043e \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f, \u043f\u043e\u0441\u043b\u0435 \u043a\u043e\u0442\u043e\u0440\u044b\u0445 \u0432\u0430\u0448\u0430 \u0436\u0438\u0437\u043d\u044c \u0443\u0436\u0435 \u043d\u0438\u043a\u043e\u0433\u0434\u0430 \u043d\u0435 \u0431\u0443\u0434\u0435\u0442 \u043f\u0440\u0435\u0436\u043d\u0435\u0439. \u041b\u0435\u043a\u0446\u0438\u0438 \u043f\u043e \u043a\u0443\u0440\u0441\u0443 \u00ab\u0423\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u0435 \u0422\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u043c\u0438 \u0421\u0438\u0441\u0442\u0435\u043c\u0430\u043c\u0438\u00bb, \u0447\u0438\u0442\u0430\u0435\u0442 \u041a\u043e\u0437\u043b\u043e\u0432 \u041e\u043b\u0435\u0433 \u0421\u0442\u0435\u043f\u0430\u043d\u043e\u0432\u0438\u0447 \u043d\u0430 \u043a\u0430\u0444\u0435\u0434\u0440\u0435 \u00ab\u042f\u0434\u0435\u0440\u043d\u044b\u0435 \u0440\u0435\u0430\u043a\u0442\u043e\u0440\u044b \u0438 \u044d\u043d\u0435\u0440\u0433\u0435\u0442\u0438\u0447\u0435\u0441\u043a\u0438\u0435 \u0443\u0441\u0442\u0430\u043d\u043e\u0432\u043a\u0438\u00bb, \u0444\u0430\u043a\u0443\u043b\u044c\u0442\u0435\u0442\u0430 \u00ab\u042d\u043d\u0435\u0440\u0433\u043e\u043c\u0430\u0448\u0438\u043d\u043e\u0441\u0442\u0440\u043e\u0435\u043d\u0438\u044f\u00bb \u041c\u0413\u0422\u0423 \u0438\u043c. \u041d.\u042d. \u0411\u0430\u0443\u043c\u0430\u043d\u0430. \u0417\u0430 \u0447\u0442\u043e \u0435\u043c\u0443 \u043e\u0433\u0440\u043e\u043c\u043d\u0430\u044f \u0431\u043b\u0430\u0433\u043e\u0434\u0430\u0440\u043d\u043e\u0441\u0442\u044c. \u0414\u0430\u043d\u043d\u044b\u0435 \u043b\u0435\u043a\u0446\u0438\u0438 \u0442\u043e\u043b\u044c\u043a\u043e \u0433\u043e\u0442\u043e\u0432\u044f\u0442\u0441\u044f \u043a \u043f\u0443\u0431\u043b\u0438\u043a\u0430\u0446\u0438\u0438 \u0432 \u0432\u0438\u0434\u0435 \u043a\u043d\u0438\u0433\u0438, \u0430 [&hellip;]<\/p>\n","protected":false,"gt_translate_keys":[{"key":"rendered","format":"html"}]},"author":1,"featured_media":83943,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[688],"tags":[],"class_list":["post-83942","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-administrirovanie"],"aioseo_notices":[],"aioseo_head":"\n\t\t<!-- All in One SEO 5.0.3 - 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