Kuv tabtom tshaj tawm thawj tshooj ntawm cov lus qhuab qhia ntawm txoj kev xav ntawm kev tswj tsis siv neeg, tom qab ntawd koj lub neej yuav tsis zoo ib yam.

Cov lus qhuab qhia ntawm chav kawm "Kev Tswj Xyuas Txheej Txheem" ​​yog muab los ntawm Oleg Stepanovich Kozlov ntawm Lub Tsev Haujlwm ntawm "Nuclear Reactors thiab Fais Fab", kws qhia ntawv ntawm "Power Mechanical Engineering" ntawm MSTU. N.E. Bauman. Rau qhov kuv ua tsaug ntau rau nws.

Cov lus qhuab qhia no tsuas yog npaj rau kev tshaj tawm hauv phau ntawv, thiab txij li muaj cov kws tshaj lij TAU, cov tub ntxhais kawm, thiab cov neeg nyiam cov ntsiab lus, txhua qhov kev thuam yog txais tos.

1. Cov ntsiab lus tseem ceeb ntawm txoj kev xav ntawm kev tswj cov txheej txheem

1.1. Cov hom phiaj, cov hauv paus ntsiab lus ntawm kev tswj hwm, hom kev tswj hwm, cov ntsiab lus txhais, piv txwv

Kev txhim kho thiab txhim kho kev tsim khoom lag luam (zog, thauj, mechanical engineering, space technology, thiab lwm yam) yuav tsum muaj kev nce ntxiv hauv kev tsim khoom ntawm cov tshuab thiab cov chav nyob, kev txhim kho cov khoom zoo, txo cov nqi thiab, tshwj xeeb tshaj yog nyob rau hauv nuclear zog, ib tug ntse nce nyob rau hauv cov khoom. kev nyab xeeb (nuclear, hluav taws xob, thiab lwm yam) .d.) kev ua haujlwm ntawm nuclear fais fab nroj tsuag thiab kev teeb tsa nuclear.

Kev ua raws li cov hom phiaj tau teev tseg yog tsis yooj yim sua yam tsis muaj kev qhia txog kev tswj hwm niaj hnub, suav nrog ob qho tib si automated (nrog kev koom tes ntawm tib neeg tus neeg teb xov tooj) thiab tsis siv neeg (tsis muaj kev koom tes ntawm tib neeg tus neeg teb xov tooj) tswj cov tshuab (CS).

Txhais: Kev tswj hwm yog ib lub koom haum ntawm cov txheej txheem thev naus laus zis tshwj xeeb uas ua kom muaj kev ua tiav ntawm lub hom phiaj teeb tsa.

Tswj txoj kev xav yog ib ceg ntawm niaj hnub science thiab technology. Nws yog raws li (raws li) ntawm ob qho tib si hauv paus (kev tshawb fawb dav dav) kev qhuab qhia (piv txwv li, lej, physics, chemistry, thiab lwm yam) thiab kev qhuab qhia (electronics, microprocessor technology, programming, thiab lwm yam).

Txhua txoj kev tswj hwm (tsis siv neeg) muaj cov theem tseem ceeb hauv qab no (cov ntsiab lus):

• tau txais cov ntaub ntawv hais txog txoj haujlwm tswj;
• tau txais cov ntaub ntawv hais txog qhov tshwm sim ntawm kev tswj hwm;
• tsom xam ntawm cov ntaub ntawv tau txais;
• kev ua raws li qhov kev txiav txim siab (kev cuam tshuam rau cov khoom tswj).

Txhawm rau siv Cov Txheej Txheem Kev Tswj Xyuas, cov txheej txheem tswj hwm (CS) yuav tsum muaj:

• qhov chaw ntawm cov ntaub ntawv hais txog txoj haujlwm tswj;
• qhov chaw ntawm cov ntaub ntawv hais txog kev tswj cov txiaj ntsig (ntau yam sensors, ntsuas ntsuas, ntsuas ntsuas, thiab lwm yam);
• cov khoom siv rau kev txheeb xyuas cov ntaub ntawv tau txais thiab tsim cov kev daws teeb meem;
• actuators ua raws li Kev Tswj Cov Khoom Siv, muaj: regulator, motors, amplification-hloov pab kiag li lawm, thiab lwm yam.

Txhais: Yog tias lub kaw lus tswj hwm (CS) muaj tag nrho cov khoom saum toj no, ces nws raug kaw.

Txhais: Kev tswj cov khoom siv kev siv cov ntaub ntawv hais txog kev tswj cov txiaj ntsig yog hu ua lub ntsiab lus tawm tswv yim.

Schematically, xws li ib tug tswj system tuaj yeem sawv cev xws li:

Rice. 1.1.1 - Cov qauv ntawm kev tswj hwm (MS)

Yog hais tias lub kaw lus tswj (CS) muaj daim duab thaiv, daim ntawv uas sib raug rau daim duab. 1.1.1, thiab kev ua haujlwm (ua haujlwm) yam tsis muaj tib neeg (tus neeg ua haujlwm) koom nrog, tom qab ntawd nws raug hu ua Tsis siv neeg tswj qhov system (ACS).

Yog tias lub kaw lus tswj tau ua haujlwm nrog kev koom tes ntawm ib tus neeg (tus neeg ua haujlwm), ces nws raug hu automated tswj qhov system.

Yog tias Kev Tswj Xyuas muab ib txoj cai ntawm kev hloov pauv ntawm cov khoom hauv lub sijhawm, tsis hais qhov txiaj ntsig ntawm kev tswj, ces qhov kev tswj hwm no tau ua nyob rau hauv lub voj qhib, thiab kev tswj nws tus kheej yog hu ua program tswj.

Qhib-voj tshuab suav nrog cov tshuab ua lag luam (cov kab xa khoom, cov kab teb, thiab lwm yam), cov tshuab computer lej (CNC) tshuab: saib piv txwv hauv daim duab. 1.1.2.

Fig.1.1.2 - Piv txwv ntawm kev tswj hwm

Piv txwv li, tus tswv cuab yeej tuaj yeem yog "copier".

Txij li hauv qhov piv txwv no tsis muaj cov sensors (kev ntsuas) saib xyuas cov khoom tsim, yog tias, piv txwv li, lub tshuab txiav tau teeb tsa tsis raug lossis tawg, ces lub hom phiaj (tsim ntawm ntu) tsis tuaj yeem ua tiav (paub pom). Feem ntau, hauv cov txheej txheem ntawm hom no, kev tswj cov zis yuav tsum tau, uas tsuas yog sau qhov sib txawv ntawm qhov ntev thiab cov duab ntawm ib feem ntawm qhov xav tau.

Tsis siv neeg tswj tshuab tau muab faib ua 3 hom:

• Tsis siv neeg tswj tshuab (ACS);
• Tsis siv neeg tswj tshuab (ACS);
• nrhiav qhov system (SS).

SAR thiab SS yog subsets ntawm SPG ==> .

Lus Txhais: Ib qho kev tswj tsis siv neeg uas ua kom muaj qhov tsis tu ncua ntawm txhua lub cev muaj nuj nqis (paub pawg ntawm cov khoom) hauv cov khoom tswj yog hu ua kev tswj hwm tsis siv neeg (ACS).

Tsis siv neeg tswj tshuab (ACS) yog hom kev tswj tsis siv neeg feem ntau.

Lub ntiaj teb thawj qhov kev tswj hwm tsis siv neeg (18 xyoo pua) yog Watt regulator. Cov tswv yim no (saib daim duab 1.1.3) tau siv los ntawm Watt hauv tebchaws Askiv kom tswj tau qhov ceev ntawm kev sib hloov ntawm lub log ntawm lub tshuab nqus tsev vacuum thiab, raws li, kom tswj tau qhov ceev ntawm kev sib hloov (siv) ntawm cov kis tau tus mob pulley (siv. ).

Nyob rau hauv lub tswv yim no cov ntsiab lus rhiab ( ntsuas sensors) yog "qhov hnyav" (spheres). "Qhov hnyav" (spheres) kuj "yuav" lub caj npab rocker thiab ces lub valve txav mus. Yog li ntawd, qhov system no tuaj yeem raug cais raws li kev tswj hwm ncaj qha, thiab tus tswj hwm tuaj yeem raug cais raws li direct acting regulator, vim nws ib txhij ua haujlwm ntawm ob qho "meter" thiab "regulator".

Nyob rau hauv direct acting regulators qhov chaw ntxiv tsis muaj zog yuav tsum tau txav lub regulator.

Rice. 1.1.3 - Watt tsis siv neeg tswj Circuit Court

Indirect control systems yuav tsum muaj (nyob) ntawm lub amplifier (piv txwv li, lub hwj chim), ib tug ntxiv actuator muaj, piv txwv li, ib tug hluav taws xob lub cev muaj zog, servomotor, hydraulic tsav, thiab lwm yam.

Ib qho piv txwv ntawm kev tswj tsis siv neeg (automatic control system), nyob rau hauv tag nrho cov kev txiav txim siab ntawm qhov kev txhais no, yog ib qho kev tswj xyuas uas ua kom lub foob pob hluav taws mus rau hauv lub orbit, qhov twg qhov kev hloov pauv tuaj yeem ua tau, piv txwv li, lub kaum sab xis ntawm lub foob pob hluav taws. axis thiab qhov qub rau lub ntiaj teb ==> saib daim duab. 1.1.4.a and fig. 1.1.4 ib

Rice. 1.1.4 (a)

Rice. 1.1.4 (b)

1.2. Cov qauv ntawm kev tswj cov tshuab: yooj yim thiab multidimensional systems

Nyob rau hauv txoj kev xav ntawm Technical Systems Management, txhua qhov system feem ntau yog muab faib ua cov txheej txheem txuas nrog rau hauv cov qauv hauv network. Hauv qhov yooj yim tshaj plaws, lub kaw lus muaj ib qhov txuas, cov kev tawm tswv yim uas tau muab los ntawm kev tawm tswv yim (input), thiab cov lus teb ntawm qhov system (tso tawm) tau txais ntawm cov tswv yim.

Nyob rau hauv txoj kev xav ntawm Technical Systems Management, 2 txoj hauv kev tseem ceeb ntawm kev sawv cev ntawm kev sib txuas ntawm kev tswj hwm yog siv:

- nyob rau hauv "input-output" variables;

— nyob rau hauv lub xeev variables (kom paub meej ntxiv, saib tshooj 6...7).

Kev sawv cev nyob rau hauv cov tswv yim tawm tswv yim sib txawv feem ntau yog siv los piav txog cov kab ke yooj yim uas muaj ib qho "input" (ib qho kev tswj hwm) thiab ib qho "tso tawm" (ib qho kev hloov pauv, saib daim duab 1.2.1).

Rice. 1.2.1 – Schematic sawv cev ntawm ib tug yooj yim tswj system

Feem ntau, cov lus piav qhia no yog siv rau cov txheej txheem yooj yim tsis siv neeg tswj tshuab (automatic tswj systems).

Tsis ntev los no, kev sawv cev hauv lub xeev hloov pauv tau dhau los, tshwj xeeb tshaj yog rau cov txheej txheem kev ua haujlwm nyuaj, suav nrog ntau qhov kev tswj hwm tsis siv neeg. Hauv daim duab. 1.2.2 qhia ib tug schematic sawv cev ntawm ib tug multidimensional tsis siv neeg tswj system, qhov twg u1(t)...um(t) - tswj kev ua (tswj vector), y1(t)…yp(t) - adjustable parameters ntawm ACS (tso zis vector).

Rice. 1.2.2 - Schematic sawv cev ntawm ib tug multidimensional tswj system

Cia peb xav txog ntau yam ntawm cov qauv ntawm ACS, sawv cev hauv "kev tawm tswv yim-tso tawm" cov hloov pauv thiab muaj ib qho kev tawm tswv yim (cov tswv yim lossis tus tswv, lossis kev tswj hwm) thiab ib qho kev tso tawm (tso tawm los yog tswj tau (lossis kho tau) sib txawv).

Cia peb xav tias daim duab thaiv ntawm xws li ACS muaj qee yam ntawm cov ntsiab lus (kev sib txuas). Los ntawm kev sib koom ua ke cov kev sib txuas raws li lub hauv paus ntsiab lus ntawm kev ua haujlwm (qhov kev sib txuas ua li cas), daim duab kos duab ntawm ACS tuaj yeem raug txo mus rau cov qauv hauv qab no:

Rice. 1.2.3 - Thaiv daim duab ntawm lub tshuab tswj tsis siv neeg

Cim ε(t) los yog txawv txav ε(t) qhia txog qhov tsis sib haum xeeb (yuam kev) ntawm cov khoom siv sib piv, uas tuaj yeem "ua haujlwm" hauv ob qho tib si kev sib piv lej yooj yim (feem ntau rho tawm, tsis tshua muaj ntxiv) thiab ntau dua kev sib piv (cov txheej txheem).

txij li thaum y1(t) = y(t)*k1qhov twg k1 yog qhov nce, ces ==>
ε(t) = x(t) - y1(t) = x(t) - k1*y(t)

Lub luag haujlwm ntawm kev tswj hwm yog (yog tias nws ruaj khov) "ua haujlwm" txhawm rau tshem tawm qhov tsis sib haum xeeb (yuam kev) ε(t), i.e. ==> ε(t) → 0.

Nws yuav tsum raug sau tseg tias qhov kev tswj hwm tau cuam tshuam los ntawm ob qho tib si sab nraud (tswj, cuam tshuam, cuam tshuam) thiab kev cuam tshuam sab hauv. Kev cuam tshuam txawv ntawm qhov cuam tshuam los ntawm stochasticity (randomness) ntawm nws lub neej, thaum qhov cuam tshuam yuav luag txhua zaus txiav txim siab.

Txhawm rau xaiv qhov kev tswj hwm (chaw ua haujlwm) peb yuav siv ob qho tib si x(t), lossis u(t).

1.3. Cov cai tswj kev yooj yim

Yog tias peb rov qab mus rau daim duab kawg (thaiv daim duab ntawm ACS hauv daim duab 1.2.3), ces nws yog ib qho tsim nyog yuav tau "decipher" lub luag hauj lwm ua si los ntawm lub amplification-hloov ntaus ntawv (dab tsi functions nws ua).

Yog hais tias lub amplification-hloov ntaus ntawv (ACD) tsuas yog txhim kho (los yog attenuates) lub teeb liab tsis sib haum ε(t), uas yog: qhov twg - proportionality coefficient (hauv qhov tshwj xeeb = Const), ces xws li kev tswj hom ntawm lub kaw-voj tsis siv neeg tswj system hu ua hom proportional tswj (P-tswj).

Yog hais tias chav tswj tau tsim cov teeb liab tso zis ε1(t), proportional rau qhov yuam kev ε(t) thiab qhov tseem ceeb ntawm ε(t), i.e. , ces qhov no tswj hom hu ua proportionally-integrating (PI tswj). ==> qhov twg b - proportionality coefficient (hauv qhov tshwj xeeb b = Const).

Feem ntau, PI tswj yog siv los txhim kho kev tswj hwm (kev tswj hwm) qhov tseeb.

Yog hais tias chav tswj tau tsim cov teeb liab tso zis ε1(t), proportional rau qhov yuam kev ε(t) thiab nws cov derivative, ces hom no hu ua proportionally sib txawv (PD tswj): ==>

Feem ntau, kev siv PD tswj kom ua tau zoo ntawm ACS

Yog hais tias chav tswj tau tsim cov teeb liab tso zis ε1(t), proportional rau qhov yuam kev ε(t), nws cov derivative, thiab qhov tseem ceeb ntawm qhov yuam kev ==> , ces hom no yog hu ces no tswj hom yog hu ua proportional-integral-differentiating tswj hom (PID tswj).

PID tswj feem ntau tso cai rau koj muab "zoo" tswj qhov tseeb nrog "zoo" ceev

1.4. Kev faib tawm ntawm kev tswj tsis siv neeg

1.4.1. Kev faib tawm los ntawm hom kev piav qhia lej

Raws li hom kev piav qhia lej (qhov sib npaug ntawm cov dynamics thiab statics), cov tshuab tswj tsis siv neeg (ACS) tau muab faib ua kab tawm и nonlinear systems (sev-propelled phom los yog SAR).

Txhua "subclass" (linear thiab nonlinear) muab faib ua ntau tus "subclasses". Piv txwv li, linear self-propelled guns (SAP) muaj qhov sib txawv ntawm hom lej piav qhia.
Txij li thaum lub semester no yuav xav txog cov khoom muaj zog ntawm cov kab ke tsis siv neeg tswj (kev tswj hwm) nkaus xwb, hauv qab no peb muab kev faib tawm raws li hom lej piav qhia rau linear automatic tswj systems (ACS):

1) Cov kab hluav taws xob tsis siv neeg tswj tau piav qhia hauv cov tswv yim tawm tswv yim los ntawm cov kab sib txawv sib txawv (ODE) nrog ruaj khov coefficients:

qhov twg x(t) - input zog; y(t) - tso zis cuam tshuam (adjustable tus nqi).

Yog tias peb siv tus neeg teb xov tooj ("compact") daim ntawv sau ib kab ODE, ces kab zauv (1.4.1) tuaj yeem sawv cev rau hauv daim ntawv hauv qab no:

qhov twg, p = d/dt - tus neeg ua haujlwm sib txawv; L(p), N(p) yog cov sib thooj linear differential operators, uas yog sib npaug rau:

2) Linear automatic tswj systems piav qhia los ntawm linear dog dig sib npaug sib npaug (ODE) nrog sib txawv (hauv lub sijhawm) coefficient:

Hauv cov ntaub ntawv dav dav, cov tshuab no tuaj yeem muab faib ua cov tshuab tsis siv neeg tswj tsis siv neeg (NSA).

3) Linear automatic tswj systems piav qhia los ntawm kab sib npaug sib npaug:

qhov twg f(…) - linear muaj nuj nqi ntawm kev sib cav; k = 1, 2, 3... - tag nrho cov lej; Δ t - quantization interval (sampling interval).

Kev sib npaug (1.4.4) tuaj yeem sawv cev hauv "compact" sau:

Feem ntau, qhov kev piav qhia ntawm linear automatic tswj systems (ACS) yog siv nyob rau hauv digital tswj systems (siv lub computer).

4) Linear automatic tswj tshuab nrog ncua sijhawm:

qhov twg L(p), N(p) - linear sib txawv tus tswv; τ - lub sij hawm lag los yog lag tsis tas li.

Yog cov neeg ua haujlwm L(p) и N(p) degenerate (L(p) = 1; N(p) = 1), ces equation (1.4.6) sib raug rau cov lej piav qhia ntawm qhov dynamics ntawm qhov zoo tshaj plaws ncua txuas:

thiab cov duab kos duab ntawm nws cov khoom muaj nyob hauv daim duab. 1.4.1

Rice. 1.4.1 - Cov duab ntawm cov tswv yim thiab tso tawm ntawm qhov zoo tshaj plaws ncua kev txuas

5) Cov kab hluav taws xob tsis siv neeg tswj tau piav qhia los ntawm cov kab sib txawv sib npaug hauv ib nrab derivatives. Xws li cov phom self-propelled feem ntau hu ua faib tswj systems. ==> Ib qho piv txwv "abstract" ntawm cov lus piav qhia no:

System of equations (1.4.7) piav qhia txog lub zog ntawm linearly faib tsis siv neeg tswj qhov system, i.e. qhov tswj kom muaj nuj nqis nyob ntawm tsis yog nyob ntawm lub sijhawm, tab sis kuj nyob ntawm ib qho chaw sib koom ua ke.
Yog hais tias lub kaw lus tswj yog "spatial", ces ==>

qhov twg nyob ntawm lub sij hawm thiab spatial coordinates txiav txim los ntawm lub vojvoog vector

6) Cov phom self-propelled tau piav qhia tshuab ODEs, lossis cov kab ke sib txawv sib txawv, lossis cov kab ke ntawm qhov sib txawv ntawm qhov sib txawv ==> thiab lwm yam ...

Ib qho kev faib tawm zoo sib xws tuaj yeem raug thov rau cov tshuab tsis siv neeg tswj tsis siv neeg (SAP)…

Rau linear systems, cov hauv qab no yuav tsum tau ua raws li:

• linearity ntawm cov yam ntxwv zoo li qub ntawm ACS;
• linearity ntawm dynamic equation, i.e. variables muaj nyob rau hauv dynamic equation tsuas yog nyob rau hauv linear ua ke.

Cov yam ntxwv zoo li qub yog qhov kev vam khom ntawm qhov tso tawm ntawm qhov loj ntawm qhov kev tawm tswv yim hauv lub xeev khov kho (thaum tag nrho cov txheej txheem hloov pauv tau tuag).

Rau cov tshuab tau piav qhia los ntawm cov kab sib txawv sib txawv sib txawv nrog cov coefficients tas li, cov yam ntxwv zoo li qub tau txais los ntawm qhov sib npaug dynamic (1.4.1) los ntawm kev teeb tsa tag nrho cov ntsiab lus tsis nyob ruaj ruaj rau xoom ==>

Daim duab 1.4.2 qhia cov piv txwv ntawm linear thiab nonlinear zoo li tus yam ntxwv ntawm kev tswj tsis siv neeg (txoj cai) systems.

Rice. 1.4.2 - Piv txwv ntawm static linear thiab nonlinear yam ntxwv

Nonlinearity ntawm cov ntsiab lus uas muaj lub sij hawm derivatives nyob rau hauv dynamic equations yuav tshwm sim thaum siv nonlinear lej ua hauj lwm (*, /, , , sin, ln, etc.). Piv txwv li, xav txog qhov sib npaug sib npaug ntawm qee qhov "abstract" tus kheej-propelled phom

Nco ntsoov tias nyob rau hauv qhov sib npaug no, nrog ib tug linear static yam ntxwv cov ntsiab lus thib ob thiab thib peb (cov ntsiab lus dynamic) nyob rau sab laug ntawm qhov sib npaug yog nonlinear, yog li ACS tau piav qhia los ntawm qhov sib npaug zoo sib xws nonlinear hauv dynamic npaj.

1.4.2. Kev faib tawm raws li qhov xwm txheej ntawm cov khoom xa tawm

Raws li qhov xwm txheej ntawm cov teeb liab kis tau tus mob, kev tswj tsis siv neeg (lossis kev tswj hwm) tau muab faib ua:

• nruam systems (nruam systems);
• relay systems (relay action systems);
• discrete action systems (pulse thiab digital).

Qhov system tsis tu ncua kev txiav txim yog hu ua xws li ACS, nyob rau hauv txhua qhov kev sib txuas uas tsis tu ncua hloov nyob rau hauv input teeb liab lub sij hawm sib txuas mus tas li hloov nyob rau hauv cov zis teeb liab, thaum txoj cai ntawm kev hloov nyob rau hauv cov zis teeb liab yuav arbitrary. Rau tus kheej-propelled rab phom kom tas mus li, nws yog ib qho tsim nyog yuav tsum muaj cov yam ntxwv zoo li qub ntawm txhua tus txuas tau tas mus li.

Rice. 1.4.3 - Piv txwv ntawm ib qho kev txuas ntxiv

Qhov system relay kev txiav txim yog hu ua ib qho kev tswj tsis siv neeg uas tsawg kawg hauv ib qhov txuas, nrog kev hloov pauv tsis tu ncua ntawm tus nqi nkag, cov nqi tso tawm ntawm qee lub sijhawm ntawm cov txheej txheem tswj kev hloov pauv "dhia" nyob ntawm tus nqi ntawm cov teeb liab tawm tswv yim. Cov yam ntxwv zoo li qub ntawm qhov txuas no muaj tawg cov ntsiab lus los yog tawg nrog rupture.

Rice. 1.4.4 - Piv txwv ntawm relay yam ntxwv zoo li qub

Qhov system tsis paub meej kev txiav txim yog ib qho system uas tsawg kawg hauv ib qhov txuas, nrog kev hloov pauv tsis tu ncua ntawm cov khoom nkag, cov khoom tawm muaj hom ntawm tus kheej impulses, tshwm sim tom qab ib lub sijhawm.

Qhov txuas uas hloov lub teeb liab txuas ntxiv mus rau hauv lub teeb liab discrete yog hu ua mem tes txuas. Ib yam zoo sib xws ntawm cov teeb liab kis tau tshwm sim hauv qhov kev tswj hwm tsis siv neeg nrog lub khoos phis tawj lossis tus tswj hwm.

Cov txheej txheem feem ntau siv (algorithms) rau kev hloov cov teeb liab txuas ntxiv mus rau hauv lub teeb liab tawm suab yog:

• mem tes amplitude modulation (PAM);
• Pulse width modulation (PWM).

Hauv daim duab. Daim duab 1.4.5 nthuav qhia graphical illustration ntawm pulse amplitude modulation (PAM) algorithm. Nyob rau sab saum toj ntawm Fig. lub sij hawm dependence yog nthuav x(t) - teeb liab ntawm qhov nkag mus rau hauv seem impulse. Tso zis teeb liab ntawm pulse block (link) y(t) - ib ntu ntawm cov pulses uas tshwm nrog nyob ruaj khov quantization lub sij hawm Δt (saib sab hauv qab ntawm daim duab). Lub sijhawm ntawm cov pulses yog tib yam thiab sib npaug rau Δ. Lub pulse amplitude ntawm qhov tso zis ntawm lub block yog proportional rau tus nqi sib txuas ntawm lub teeb liab nruam x (t) ntawm cov tswv yim ntawm qhov thaiv no.

Rice. 1.4.5 - Kev siv cov mem tes amplitude modulation

Hom kev hloov pauv mem tes no muaj ntau heev nyob rau hauv cov khoom siv ntsuas hluav taws xob ntawm kev tswj thiab kev tiv thaiv (CPS) ntawm nuclear fais fab nroj tsuag (NPP) nyob rau hauv 70s ... 80s ntawm lub xyoo pua xeem.

Hauv daim duab. Daim duab 1.4.6 qhia cov duab kos duab ntawm pulse width modulation (PWM) algorithm. Nyob rau sab saum toj ntawm Fig. 1.14 qhia lub sij hawm dependence x(t) - teeb liab ntawm lub tswv yim mus rau lub mem tes txuas. Tso zis teeb liab ntawm pulse block (link) y(t) - ib ntu ntawm cov duab plaub uas tshwm sim nrog lub sijhawm quantization tas li Δ t (saib hauv qab ntawm daim duab 1.14). Lub amplitude ntawm tag nrho cov pulses yog tib yam. Pulse duration Δ t ntawm qhov tso zis ntawm qhov thaiv yog proportional rau tus nqi sib txuas ntawm cov teeb liab txuas ntxiv x(t) ntawm lub tswv yim ntawm pulse block.

Rice. 1.4.6 - Kev siv ntawm pulse width modulation

Hom kev hloov pauv mem tes no yog tam sim no feem ntau hauv cov khoom siv ntsuas hluav taws xob ntawm kev tswj thiab kev tiv thaiv (CPS) ntawm nuclear fais fab nroj tsuag (NPP) thiab ACS ntawm lwm cov kev siv tshuab.

Xaus cov ntu ntu no, nws yuav tsum tau muab sau tseg tias yog lub sijhawm tus yam ntxwv tsis tu ncua nyob rau hauv lwm qhov txuas ntawm cov phom tus kheej (SAP) tseem ceeb tshaj Δt (los ntawm qhov kev txiav txim ntawm qhov loj), ces lub mem tes system tuaj yeem suav hais tias yog kev tswj hwm tsis tu ncua (thaum siv AIM and PWM).

1.4.3. Kev faib tawm los ntawm qhov kev tswj hwm

Raws li qhov xwm txheej ntawm cov txheej txheem tswj, kev tswj tsis siv neeg tau muab faib ua cov hauv qab no:

• deterministic tsis siv neeg tswj systems, nyob rau hauv uas lub input teeb liab yuav unambiguously txuam nrog cov zis teeb liab (thiab vice versa);
• stochastic ACS (statistical, probabilistic), nyob rau hauv uas lub ACS " teb" rau ib tug muab tswv yim teeb liab random (stochastic) tso zis teeb liab.

Cov zis stochastic teeb liab yog tus cwj pwm los ntawm:

• txoj cai ntawm kev faib khoom;
• kev cia siab ua lej (nruab nrab tus nqi);
• dispersion (tus qauv sib txawv).

Lub stochastic xwm ntawm cov txheej txheem tswj yog feem ntau pom nyob rau hauv qhov tseem ceeb uas tsis yog-linear ACS ob qho tib si los ntawm qhov pom ntawm cov yam ntxwv zoo li qub, thiab los ntawm qhov pom (txawm tias mus rau qhov ntau dua) ntawm qhov tsis sib xws ntawm cov ntsiab lus dynamic hauv kev sib npaug sib npaug.

Rice. 1.4.7 - Kev faib tawm ntawm tus nqi tso zis ntawm stochastic tsis siv neeg tswj qhov system

Ntxiv rau qhov saum toj no lub ntsiab hom kev faib tawm ntawm kev tswj hwm, muaj lwm yam kev faib tawm. Piv txwv li, kev faib tawm tuaj yeem ua tau raws li txoj kev tswj hwm thiab ua raws li kev sib cuam tshuam nrog ib puag ncig sab nraud thiab muaj peev xwm hloov tau ACS rau cov kev hloov pauv ntawm ib puag ncig. Cov txheej txheem tau muab faib ua ob chav loj:

1) Ordinary (tsis-tus kheej-kho) tswj tshuab yam tsis muaj kev hloov kho; Cov txheej txheem no yog nyob rau hauv qeb ntawm cov yooj yim uas tsis hloov lawv cov qauv thaum lub sij hawm tswj txheej txheem. Lawv yog cov feem ntau tsim thiab dav siv. Ordinary tswj systems tau muab faib ua peb subclasses: qhib-voj, kaw-voj thiab ua ke tswj systems.

2) Kev kho tus kheej (adaptive) tswj tshuab. Hauv cov kab ke no, thaum cov xwm txheej sab nraud lossis cov yam ntxwv ntawm cov khoom tswj tau hloov pauv, kev hloov pauv tsis siv neeg (tsis tau txiav txim siab ua ntej) kev hloov pauv ntawm cov khoom siv tswj tau tshwm sim vim muaj kev hloov pauv hauv kev tswj hwm coefficients, tswj cov qauv, lossis txawm tias kev qhia txog cov ntsiab lus tshiab. .

Lwm qhov piv txwv ntawm kev faib tawm: raws li lub hauv paus hierarchical (ib theem, ob theem, ntau theem).

Tsuas yog cov neeg siv sau npe tuaj yeem koom nrog hauv daim ntawv ntsuam xyuas. Kos npe rau hauvthov.

Txuas ntxiv tshaj tawm cov lus qhuab qhia ntawm UTS?

• 88,7%Yog 118

• 7,5%Nr 10

• 3,8%kuv tsis paub 5

133 cov neeg siv pov npav. 10 cov neeg siv txwv tsis pub siv.

Tau qhov twg los: www.hab.com