Ina buga babi na farko na laccoci kan ka'idar sarrafa atomatik, bayan haka rayuwar ku ba za ta kasance iri ɗaya ba.

Lectures a kan hanya "Management of Technical Systems" aka bayar da Oleg Stepanovich Kozlov a Ma'aikatar "Nuclear Reactors da Power Plants", Faculty of "Power Mechanical Engineering" na MSTU. N.E. Bauman. Don haka ina matukar godiya gare shi.

Ana shirya waɗannan laccoci ne kawai don bugawa a cikin littafin, kuma tun da akwai ƙwararrun TAU, ɗalibai, da masu sha'awar batun kawai, duk wani zargi yana maraba.

1. Ma'anar asali na ka'idar kula da tsarin fasaha

1.1. Manufofin, ka'idodin gudanarwa, nau'ikan tsarin gudanarwa, ma'anoni na asali, misalai

Haɓakawa da haɓaka samar da masana'antu (makamashi, sufuri, injiniyan injiniya, fasahar sararin samaniya, da dai sauransu) na buƙatar ci gaba da haɓaka haɓakar injuna da raka'a, haɓaka ingancin samfuran, rage farashi da kuma, musamman a cikin makamashin nukiliya, haɓakar haɓakar haɓakawa. aminci (nukiliya, radiation, da dai sauransu) .d.) aiki na makamashin nukiliya da kuma makaman nukiliya.

Aiwatar da maƙasudin da aka saita ba zai yiwu ba ba tare da gabatar da tsarin sarrafawa na zamani ba, ciki har da na atomatik (tare da sa hannu na ma'aikacin mutum) da kuma atomatik (ba tare da shigar da ma'aikacin mutum ba) tsarin sarrafawa (CS).

Ma'ana: Gudanarwa ƙungiya ce ta wani tsari na fasaha wanda ke tabbatar da cimma burin da aka saita.

Ka'idar sarrafawa reshe ne na kimiyya da fasaha na zamani. Ya dogara ne akan nau'o'in asali (na kimiyya na gabaɗaya) (misali, lissafi, kimiyyar lissafi, sunadarai, da sauransu) da kuma darussan da ake amfani da su (electronics, fasahar microprocessor, shirye-shirye, da sauransu).

Duk wani tsari na sarrafawa (na atomatik) ya ƙunshi manyan matakai masu zuwa (abubuwa):

• samun bayanai game da aikin sarrafawa;
• samun bayanai game da sakamakon gudanarwa;
• nazarin bayanan da aka karɓa;
• aiwatar da shawarar (tasiri akan abin sarrafawa).

Don aiwatar da Tsarin Gudanarwa, tsarin gudanarwa (CS) dole ne ya sami:

• tushen bayanai game da aikin gudanarwa;
• tushen bayanai game da sakamakon sarrafawa (na'urori daban-daban, na'urori masu aunawa, masu ganowa, da sauransu);
• na'urori don nazarin bayanan da aka karɓa da haɓaka mafita;
• actuators aiki a kan Control Object, dauke da: regulator, Motors, amplification-canza na'urorin, da dai sauransu.

Ma'ana: Idan tsarin sarrafawa (CS) ya ƙunshi duk sassan da ke sama, to an rufe shi.

Ma'ana: Sarrafa kayan fasaha ta amfani da bayanai game da sakamakon sarrafawa ana kiranta ka'idar amsawa.

A tsari, ana iya wakilta irin wannan tsarin sarrafawa kamar:

Shinkafa 1.1.1 - Tsarin tsarin sarrafawa (MS)

Idan tsarin kulawa (CS) yana da zane-zane na toshe, nau'in wanda ya dace da siffa. 1.1.1, da ayyuka (ayyukan) ba tare da sa hannu na mutum (mai aiki) ba, to ana kiran shi Tsarin sarrafawa ta atomatik (ACS).

Idan tsarin sarrafawa yana aiki tare da sa hannun mutum (mai aiki), to ana kiran shi tsarin sarrafawa ta atomatik.

Idan Control ya ba da wata doka da aka ba ta na canza abu a cikin lokaci, ba tare da la'akari da sakamakon sarrafawa ba, ana yin irin wannan iko a cikin madauki mai buɗewa, kuma ana kiran ikon sarrafa kansa. sarrafa shirin.

Tsarin buɗaɗɗen madauki ya haɗa da injinan masana'antu (layukan jigilar kayayyaki, layukan jujjuya, da sauransu), injunan sarrafa lambobi (CNC): duba misali a cikin siffa. 1.1.2.

Hoto 1.1.2 - Misalin kula da shirin

Babban na'urar na iya zama, alal misali, "copier".

Tun da a cikin wannan misali babu na'urori masu auna firikwensin (mita) masu lura da sashin da ake kerawa, idan, alal misali, an shigar da abin yanka ba daidai ba ko kuma ya karye, to ba za a iya cimma burin da aka saita (samar da sashin) ba (gane). Yawanci, a cikin tsarin irin wannan nau'in, ana buƙatar sarrafawar fitarwa, wanda zai rubuta kawai karkatar da girma da siffar ɓangaren daga abin da ake so.

Tsarin sarrafawa ta atomatik ya kasu zuwa nau'ikan uku:

• tsarin sarrafawa ta atomatik (ACS);
• tsarin sarrafawa ta atomatik (ACS);
• tsarin bin diddigi (SS).

SAR da SS rukunoni ne na SPG ==> .

Ma'anar: Tsarin sarrafawa ta atomatik wanda ke tabbatar da wanzuwar kowane nau'i na jiki (rukunin yawa) a cikin abin sarrafawa ana kiransa tsarin sarrafawa ta atomatik (ACS).

Tsarukan sarrafawa ta atomatik (ACS) sune mafi yawan nau'in tsarin sarrafawa ta atomatik.

Mai sarrafa atomatik na farko a duniya (ƙarni na 18) shine mai sarrafa Watt. Wannan makirci (duba hoto 1.1.3) Watt ne a Ingila ya aiwatar da shi don kiyaye saurin jujjuyawar motar injin tururi kuma, don haka, don kiyaye saurin juyi (motsi) na ɗigon watsawa (belt). ).

A cikin wannan tsari m abubuwa (Aunawa na'urori masu aunawa) sune "ma'auni" (spheres). "Ma'auni" (spheres) kuma "tilasta" hannun rocker sannan bawul don motsawa. Don haka, ana iya rarraba wannan tsarin azaman tsarin sarrafawa kai tsaye, kuma ana iya rarraba mai sarrafawa azaman mai sarrafa kai tsaye, tun da yake a lokaci guda yana yin ayyukan biyu na "mita" da "mai tsarawa".

A cikin masu gudanarwa kai tsaye ƙarin tushe babu makamashi da ake buƙata don motsa mai sarrafawa.

Shinkafa 1.1.3 - Watt mai sarrafawa ta atomatik

Tsarin sarrafawa na kai tsaye yana buƙatar kasancewar (kasancewar) na amplifier (misali, iko), ƙarin mai kunnawa wanda ya ƙunshi, misali, injin lantarki, servomotor, na'ura mai ƙarfi, da sauransu.

Misali na tsarin sarrafawa ta atomatik (tsarin sarrafawa ta atomatik), a cikin cikakkiyar ma'anar wannan ma'anar, tsarin sarrafawa ne wanda ke tabbatar da harba roka a cikin orbit, inda ma'aunin sarrafawa zai iya zama, misali, kusurwa tsakanin roka. axis da al'ada ga Duniya ==> duba siffa. 1.1.4.a da fig. 1.1.4.b

Shinkafa 1.1.4 (a)

Shinkafa 1.1.4 (b)

1.2. Tsarin tsarin sarrafawa: sauƙi da tsarin multidimensional

A cikin ka'idar Gudanar da Tsarin Fasaha, kowane tsari yawanci ana rarraba shi zuwa saitin hanyoyin haɗin gwiwa da aka haɗa cikin tsarin cibiyar sadarwa. A cikin mafi sauƙi, tsarin yana ƙunshe da hanyar haɗi guda ɗaya, wanda aka shigar da shi tare da aikin shigarwa (input), kuma ana samun amsawar tsarin (fitarwa) a shigarwar.

A cikin ka'idar Gudanar da Tsarin Fasaha, ana amfani da manyan hanyoyin 2 na wakiltar hanyoyin haɗin gwiwar tsarin sarrafawa:

- a cikin "samar da fitarwa" masu canji;

- a cikin masu canjin yanayi (don ƙarin cikakkun bayanai, duba sassan 6...7).

Ana amfani da wakilci a cikin masu canji na shigarwa-fitarwa don kwatanta tsarin sauƙi masu sauƙi waɗanda ke da "sarrafawa" ɗaya (aikin sarrafawa ɗaya) da ɗaya "fitarwa" (mai canzawa ɗaya mai sarrafawa, duba Hoto 1.2.1).

Shinkafa 1.2.1 - Tsarin tsari na tsarin sarrafawa mai sauƙi

Yawanci, ana amfani da wannan bayanin don tsarin sarrafawa mai sauƙi na fasaha (tsarin sarrafawa ta atomatik).

Kwanan nan, wakilci a cikin sauye-sauye na jihohi ya zama tartsatsi, musamman don tsarin fasaha na fasaha, ciki har da tsarin sarrafawa ta atomatik multidimensional. A cikin siffa. 1.2.2 yana nuna alamar tsari na tsarin sarrafawa ta atomatik multidimensional, inda u1(t)…um(t) - ayyukan sarrafawa (sarrafa vector), y1(t)…yp(t) - daidaitacce sigogi na ACS (fitarwa vector).

Shinkafa 1.2.2 - Tsarin tsari na tsarin kulawa da yawa

Bari mu yi la'akari dalla dalla-dalla tsarin ACS, wanda aka wakilta a cikin ma'auni na "shigarwa-fitarwa" da kuma samun shigarwa ɗaya (shigarwa ko mai sarrafa, ko aikin sarrafawa) da ɗaya fitarwa (aikin fitarwa ko sarrafawa (ko daidaitacce) m).

Bari mu ɗauka cewa toshe zane na irin wannan ACS ya ƙunshi wasu adadin abubuwa (hanyoyi). Ta hanyar tara hanyoyin haɗin gwiwa bisa ga ƙa'idar aiki (abin da hanyoyin haɗin ke yi), za a iya rage tsarin tsarin ACS zuwa nau'i na yau da kullun:

Shinkafa 1.2.3 - Toshe zane na tsarin sarrafawa ta atomatik

Alama da (t) ko m da (t) yana nuna rashin daidaituwa (kuskure) a fitowar na'urar kwatanta, wanda zai iya "aiki" a cikin yanayin ayyukan ƙididdiga masu sauƙi guda biyu (mafi yawan raguwa, ƙasa da sau da yawa) da ƙarin hadaddun ayyuka na kwatanta (tsari).

Tun y1(t) = y(t)*k1inda k1 shine riba, to ==>
ε (t) = x (t) - y1 (t) = x (t) - k1*y (t)

Ayyukan tsarin sarrafawa shine (idan yana da kwanciyar hankali) don "aiki" don kawar da rashin daidaituwa (kuskure) da (t), i.e. ==> ε(t) → 0.

Ya kamata a lura cewa tsarin kulawa yana tasiri ta hanyar tasiri na waje (sarrafawa, damuwa, tsangwama) da kuma tsangwama na ciki. Tsangwama ya bambanta da tasiri ta hanyar stochasticity (randomness) na kasancewarsa, yayin da tasiri yana kusan ƙaddarawa.

Don zayyana sarrafawa (aikin saitin) za mu yi amfani da ko dai x (t), ko ku (t).

1.3. Ka'idoji na asali na sarrafawa

Idan muka koma ga adadi na ƙarshe (toshe zane na ACS a cikin siffa 1.2.3), to ya zama dole don "decipher" rawar da na'urar haɓakawa ta kunna (abin da ayyuka yake yi).

Idan na'urar da ke canza ƙarawa (ACD) tana haɓaka (ko ragewa) siginar rashin daidaituwa ε(t), wato: inda - coefficient na proportionality (a cikin yanayin musamman = Const), to, irin wannan yanayin sarrafawa na rufaffiyar tsarin sarrafa atomatik ana kiransa yanayin iko daidai gwargwado (P-control).

Idan naúrar sarrafawa ta haifar da siginar fitarwa ε1 (t), daidai da kuskuren ε (t) da haɗin gwiwar ε (t), i.e. , to ana kiran wannan yanayin sarrafawa daidai gwargwado-haɗin kai (PI iko). ==> inda b - coefficient na proportionality (a cikin yanayin musamman b = Mutuwa).

Yawanci, ana amfani da kulawar PI don inganta daidaiton iko (tsari).

Idan sashin sarrafawa ya haifar da siginar fitarwa ε1 (t), daidai da kuskuren ε(t) da abin da ya samo asali, to ana kiran wannan yanayin. daidai gwargwado (PD control):==>

Yawanci, amfani da sarrafa PD yana ƙara yawan aikin ACS

Idan sashin sarrafawa ya haifar da siginar fitarwa ε1 (t), daidai da kuskuren ε(t), abin da ya samo asali, da kuma ainihin kuskuren ==> , to ana kiran wannan yanayin sannan ana kiran wannan yanayin sarrafawa Yanayin sarrafawa daidai-daidaita-haɗe-bambance (Ikon PID).

Ikon PID sau da yawa yana ba ku damar samar da daidaiton sarrafawa "mai kyau" tare da saurin "mai kyau".

1.4. Rarraba tsarin sarrafawa ta atomatik

1.4.1. Rabewa ta nau'in bayanin lissafi

Dangane da nau'in bayanin lissafin lissafi (daidaituwar kuzari da ƙididdiga), ana rarraba tsarin sarrafa atomatik (ACS) zuwa mikakke и marasa kan layi tsarin (bindigogi masu sarrafa kansu ko SAR).

Kowane "subclass" (mai layi da marar layi) an raba shi zuwa adadin "ƙasuwanci". Misali, bindigogi masu sarrafa kansu (SAP) suna da bambance-bambance a cikin nau'in bayanin lissafi.
Tun da wannan semester ɗin zai yi la'akari da ƙayyadaddun kaddarorin tsarin sarrafawa ta atomatik kawai na madaidaiciya (tsari), a ƙasa muna samar da rarrabuwa bisa ga nau'in bayanin lissafin lissafi don tsarin sarrafa atomatik na madaidaiciya (ACS):

1) Tsarukan sarrafawa ta atomatik na layi wanda aka bayyana a cikin masu canji na shigarwa-fitarwa ta ma'auni daban-daban (ODE) tare da m coefficients:

inda x (t) - tasirin shigarwa; y (t) - tasirin fitarwa (ƙimar daidaitacce).

Idan muka yi amfani da nau'in afareta ("m") na rubuta ODE madaidaiciya, to ana iya wakilta lissafin (1.4.1) a cikin tsari mai zuwa:

ku, p = d/dt - mai aiki daban; L(p), N(p) su ne madaidaitan masu aiki na banbanta na layi, waɗanda suke daidai da:

2) Tsarin sarrafawa ta atomatik na linzamin kwamfuta wanda aka kwatanta ta hanyar daidaita daidaitattun bambancin layi (ODE) tare da masu canji (a lokaci) coefficients:

A cikin al'amuran gabaɗaya, ana iya rarraba irin waɗannan tsarin azaman tsarin sarrafa atomatik (NSA).

3) Tsarin sarrafawa ta atomatik na linzamin kwamfuta wanda aka kwatanta ta hanyar ma'auni na bambance-bambancen layi:

inda f(…) - aikin layi na gardama; ku = 1, 2, 3… - lambobi duka; Δt - tazarar ƙididdigewa (tazarar samfur).

Ƙididdigar (1.4.4) za a iya wakilta a cikin "ƙaddamar" bayanin kula:

Yawanci, ana amfani da wannan bayanin na tsarin sarrafa atomatik na layi (ACS) a cikin tsarin sarrafa dijital (ta amfani da kwamfuta).

4) Tsarin sarrafawa ta atomatik na layi tare da jinkiri:

inda L(p), N(p) - masu aiki daban-daban na layi; τ - lag lokaci ko lag akai-akai.

Idan masu aiki L(p) и N(p) lalata (L (p) = 1; N(p) = 1), to, lissafin (1.4.6) yayi daidai da bayanin lissafin ma'auni na madaidaicin hanyar jinkiri:

kuma ana nuna hoto mai hoto na kaddarorin sa a cikin siffa. 1.4.1

Shinkafa 1.4.1 - Zane-zane na shigarwa da fitarwa na madaidaicin hanyar jinkiri

5) Tsarukan sarrafawa ta atomatik na linzamin kwamfuta wanda aka kwatanta ta hanyar ma'auni daban-daban na layi a abubuwan ban sha'awa. Ana kiran irin waɗannan bindigogi masu sarrafa kansu sau da yawa rarraba tsarin sarrafawa. ==> Misalin “abstract” na irin wannan bayanin:

Tsarin daidaitawa (1.4.7) yana bayyana yanayin tsarin tsarin sarrafawa ta atomatik da aka rarraba ta layi, watau. Adadin da aka sarrafa ya dogara ba kawai akan lokaci ba, har ma a kan daidaitawar sararin samaniya ɗaya.
Idan tsarin sarrafawa abu ne na "spatial", to ==>

inda ya dogara da lokaci da daidaitawar sararin samaniya wanda radius vector ya ƙaddara

6) An bayyana bindigogi masu sarrafa kansu tsarin ODEs, ko tsarin ma'auni daban-daban, ko tsarin juzu'i na banbanta ==> da sauransu...

Ana iya ba da shawarar irin wannan rabe-rabe don tsarin sarrafawa ta atomatik marasa kan layi (SAP)…

Don tsarin layi, an cika buƙatun masu zuwa:

• linearity na a tsaye halaye na ACS;
• linearity na dynamics equation, i.e. ana haɗa masu canji a cikin ma'aunin kuzari kawai a cikin haɗin kai tsaye.

Siffar dabi'a ita ce dogaro da fitarwa akan girman tasirin shigarwar a cikin tsayayyen yanayi (lokacin da duk matakan wucin gadi suka mutu).

Don tsarin da aka siffanta ta hanyar daidaitattun bambance-bambancen na yau da kullun tare da ƙididdiga akai-akai, ana samun sifa ta tsaye daga ma'auni mai ƙarfi (1.4.1) ta saita duk sharuɗɗan da ba na tsaye ba zuwa sifili ==>

Hoto 1.4.2 yana nuna misalan misalan misalan da ba daidai ba na tsarin sarrafa atomatik (tsari).

Shinkafa 1.4.2 - Misalai na madaidaiciyar madaidaiciya da halaye marasa kan layi

Rashin daidaituwa na sharuɗɗan da ke ɗauke da abubuwan da suka samo asali na lokaci a cikin ma'auni masu ƙarfi na iya tasowa yayin amfani da ayyukan lissafin da ba na kan layi ba (*, /, , , zunubi, ln, da dai sauransu). Misali, la'akari da ma'auni mai ƙarfi na wasu bindiga mai sarrafa kansa "abstract".

Lura cewa a cikin wannan ma'auni, tare da siffa ta tsaye sharuɗɗan na biyu da na uku (masu ƙarfi) a gefen hagu na lissafin sune marasa kan layi, don haka ACS da aka kwatanta ta hanyar daidaitattun daidaito shine marar layi a ciki m shirin.

1.4.2. Rarraba bisa ga yanayin siginar da aka watsa

Dangane da yanayin siginar da ake watsawa, tsarin sarrafawa ta atomatik (ko tsari) sun kasu zuwa:

• tsarin ci gaba (tsarin ci gaba);
• tsarin gudun ba da sanda (tsarin aikin ba da sanda);
• tsarin aiki mai hankali (pulse da dijital).

Tsari ci gaba Ana kiran aikin irin wannan ACS, a cikin kowane mahaɗin da ke ciki ci gaba canza siginar shigarwa akan lokaci yayi daidai da ci gaba canji a cikin siginar fitarwa, yayin da dokar canji a cikin siginar fitarwa na iya zama sabani. Don bindiga mai sarrafa kansa ya kasance mai ci gaba, ya zama dole cewa halaye na duk hanyoyin haɗin gwiwa sun ci gaba.

Shinkafa 1.4.3 - Misalin tsarin ci gaba

Tsari gudun ba da sanda aikin ana kiransa tsarin sarrafawa ta atomatik wanda aƙalla a cikin hanyar haɗi ɗaya, tare da ci gaba da canji a cikin ƙimar shigarwa, ƙimar fitarwa a wasu lokuta na tsarin sarrafawa yana canza "tsalle" dangane da ƙimar siginar shigarwa. Siffar sifa ta wannan hanyar haɗin yanar gizon tana da karya maki ko karaya tare da karyewa.

Shinkafa 1.4.4 - Misalan sifofin watsa shirye-shirye

Tsari mai hankali Aiki shine tsarin da aƙalla a cikin hanyar haɗin gwiwa ɗaya, tare da ci gaba da canji a cikin adadin shigarwar, yawan abin da ake fitarwa yana da nau'in motsin zuciyar mutum, yana bayyana bayan wani ɗan lokaci.

Mahadar da ke juyar da sigina mai ci gaba zuwa sigina mai hankali ana kiransa mahaɗin bugun jini. Irin wannan nau'in siginar da aka watsa yana faruwa a cikin tsarin sarrafawa ta atomatik tare da kwamfuta ko mai sarrafawa.

Hanyoyin da aka fi aiwatarwa (algorithms) don canza siginar shigarwa mai ci gaba zuwa siginar fitarwar da aka buga sune:

• bugun jini amplitude modulation (PAM);
• Modulation mai faɗin bugun jini (PWM).

A cikin siffa. Hoto 1.4.5 yana gabatar da hoto mai hoto na algorithm ɗin pulse amplitude modulation (PAM). A saman siffa. an gabatar da dogara lokacin x (t) - sigina a kofar shiga cikin sashin sha'awa. Siginar fitarwa na pulse block (link) y (t) – jeri rectangular bugun jini bayyana tare da na dindindin lokacin ƙididdigewa Δt (duba ƙananan ɓangaren adadi). Tsawon lokacin bugun jini iri ɗaya ne kuma daidai da Δ. Girman bugun bugun jini a fitarwa na toshe yana daidai da ƙimar daidaitaccen siginar x(t) mai ci gaba da shigar da wannan toshe.

Shinkafa 1.4.5 - Aiwatar da bugun jini amplitude daidaitawa

Wannan hanyar sarrafa bugun jini ya kasance ruwan dare sosai a cikin na'urorin aunawa na lantarki na sarrafawa da tsarin kariya (CPS) na tashoshin makamashin nukiliya (NPP) a cikin 70s...80s na karnin da ya gabata.

A cikin siffa. Hoto 1.4.6 yana nuna hoto mai hoto na ƙwanƙwasa faɗin bugun jini (PWM) algorithm. A saman siffa. 1.14 yana nuna dogaro da lokaci x (t) – sigina a shigarwar zuwa mahaɗin bugun jini. Siginar fitarwa na pulse block (link) y (t) – jeri na bugun jini rectangular suna bayyana tare da lokacin ƙididdigewa akai-akai Δt (duba kasan hoto 1.14). Girman duka bugun jini iri ɗaya ne. Tsawon bugun jini Δt a fitarwa na toshe yana daidai da ƙimar daidaitaccen siginar ci gaba x (t) a shigar da bugun bugun jini.

Shinkafa 1.4.6 - Aiwatar da bugun jini nisa daidaitawa

Wannan hanyar sarrafa bugun jini a halin yanzu ita ce mafi yawanci a cikin na'urorin aunawa na lantarki na sarrafawa da tsarin kariya (CPS) na tashar makamashin nukiliya (NPP) da ACS na sauran tsarin fasaha.

Ƙarshe wannan ɓangaren, ya kamata a lura cewa idan halayen lokaci ya kasance a cikin wasu hanyoyin haɗin kai na bindigogi (SAP) muhimmanci fiye Δt (bisa umarnin girma), sannan tsarin bugun jini ana iya la'akari da ci gaba da tsarin sarrafawa ta atomatik (lokacin amfani da duka AIM da PWM).

1.4.3. Rarraba ta yanayin sarrafawa

Dangane da yanayin tsarin sarrafawa, tsarin sarrafawa ta atomatik ya kasu kashi kamar haka:

• deterministic atomatik kula da tsarin, a cikin abin da shigar da siginar za a iya babu shakka hade da fitarwa siginar (kuma akasin haka);
• stochastic ACS (ƙididdiga, mai yiwuwa), wanda ACS ke "amsa" ga siginar shigarwa da aka bayar. bazuwar (stochastic) siginar fitarwa.

Siginar stochastic mai fitarwa yana da alaƙa da:

• dokar rarraba;
• tsammanin ilimin lissafi (matsakaicin ƙimar);
• watsawa (misali karkata).

Yanayin stochastic na tsarin sarrafawa yawanci ana lura dashi a ciki ainihin ACS mara kyau duka daga ra'ayi na sifofi na tsaye, kuma daga ra'ayi (har ma zuwa mafi girma) na rashin daidaituwa na kalmomi masu mahimmanci a cikin ma'auni mai mahimmanci.

Shinkafa 1.4.7 - Rarraba ƙimar fitarwa na tsarin sarrafa atomatik na stochastic

Baya ga manyan nau'ikan nau'ikan rarraba tsarin sarrafawa, akwai wasu rabe-rabe. Misali, ana iya aiwatar da rarrabuwa bisa ga hanyar sarrafawa kuma a dogara ne akan hulɗa tare da yanayin waje da ikon daidaita ACS zuwa canje-canje a cikin sigogin muhalli. An raba tsarin zuwa manyan azuzuwan guda biyu:

1) Tsarin kulawa na yau da kullun (marasa daidaitawa) ba tare da daidaitawa ba; Wadannan tsarin suna cikin nau'in masu sauƙi waɗanda ba su canza tsarin su ba yayin aikin gudanarwa. Su ne aka fi ci gaba da amfani da su. Tsarin sarrafawa na yau da kullun ya kasu kashi uku: buɗaɗɗen madauki, rufaffiyar madauki da tsarin sarrafawa hade.

2) Tsarin sarrafa kai (daidaitawa). A cikin waɗannan tsarin, lokacin da yanayi na waje ko halayen abin da aka sarrafa ya canza, canjin atomatik (ba a ƙayyade ba) canji a cikin sigogi na na'urar sarrafawa yana faruwa saboda canje-canje a cikin tsarin tsarin sarrafawa, tsarin tsarin sarrafawa, ko ma gabatar da sababbin abubuwa. .

Wani misali na rarrabuwa: bisa ga tsarin matsayi (mataki ɗaya, mataki biyu, matakai da yawa).

Masu amfani da rajista kawai za su iya shiga cikin binciken. Shigadon Allah.

Ci gaba da buga laccoci akan UTS?

• 88,7%Da 118

• 7,5%No10

• 3,8%ban sani ba5

Masu amfani 133 sun kada kuri'a. Masu amfani 10 sun kaurace.

source: www.habr.com