Ndikusindikiza mutu woyamba wa nkhani za chiphunzitso cha kudziletsa, pambuyo pake moyo wanu sudzakhalanso chimodzimodzi.

Maphunziro pa "Management of Technical Systems" amaperekedwa ndi Oleg Stepanovich Kozlov ku Dipatimenti ya "Nyuclear Reactors ndi Plants Power", Faculty of "Power Mechanical Engineering" ya MSTU. N.E. Bauman. Zomwe ndimamuthokoza kwambiri.

Nkhanizi zikungokonzedwa kuti zifalitsidwe m'mabuku, ndipo popeza pali akatswiri a TAU, ophunzira, ndi omwe ali ndi chidwi ndi phunziroli, kudzudzula kulikonse ndikovomerezeka.

1. Malingaliro oyambira a chiphunzitso cha kuwongolera machitidwe aukadaulo

1.1. Zolinga, mfundo za kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwekazi ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe kakenimwebubukhu kapa |

Kukula ndi kusintha kwa mafakitale (mphamvu, zoyendera, uinjiniya wamakina, ukadaulo wa mlengalenga, etc.) kumafuna kuwonjezereka kosalekeza kwa zokolola zamakina ndi mayunitsi, kuwongolera mtundu wazinthu, kuchepetsa ndalama komanso, makamaka mu mphamvu ya nyukiliya, kuwonjezereka kwakukulu kwamagetsi. chitetezo (nyukiliya, ma radiation, ndi zina zotero) .d.) ntchito ya mafakitale a nyukiliya ndi kuika zida za nyukiliya.

Kukhazikitsidwa kwa zolinga zomwe zakhazikitsidwa sizingatheke popanda kukhazikitsidwa kwa machitidwe olamulira amakono, kuphatikizapo zonse zodziwikiratu (ndi kutengapo mbali kwa woyendetsa anthu) ndi zodziwikiratu (popanda kutengapo mbali kwa oyendetsa anthu) machitidwe olamulira (CS).

Tanthauzo: Utsogoleri ndi bungwe la njira inayake yaukadaulo yomwe imatsimikizira kukwaniritsidwa kwa cholinga chokhazikitsidwa.

Kuwongolera chiphunzitso ndi nthambi ya sayansi yamakono ndi zamakono. Zimakhazikitsidwa (zotengera) pamalangizo onse ofunikira (zasayansi) (mwachitsanzo, masamu, physics, chemistry, etc.) ndi machitidwe ogwiritsira ntchito (electronics, microprocessor technology, programming, etc.).

Njira iliyonse yowongolera (yokha) imakhala ndi magawo akulu otsatirawa (zinthu):

• kupeza zambiri za ntchito yowongolera;
• kupeza zambiri za zotsatira za kasamalidwe;
• kusanthula kwa chidziwitso cholandilidwa;
• kukhazikitsa chigamulo (zokhudza chinthu chowongolera).

Kukhazikitsa Management Process, kasamalidwe kasamalidwe (CS) ayenera kukhala ndi:

• magwero a chidziwitso cha ntchito yoyang'anira;
• magwero azidziwitso pazotsatira zowongolera (masensa osiyanasiyana, zida zoyezera, zowunikira, ndi zina);
• zida zowunikira zidziwitso zolandilidwa ndikukhazikitsa mayankho;
• ma actuators omwe amagwira ntchito pa Control Object, omwe ali ndi: chowongolera, ma mota, zida zosinthira zokulitsa, ndi zina.

Tanthauzo: Ngati dongosolo lolamulira (CS) lili ndi zigawo zonse zomwe zili pamwambazi, ndiye kuti zatsekedwa.

Tanthauzo: Kuwongolera kwa chinthu chaukadaulo pogwiritsa ntchito chidziwitso chokhudza zotsatira zowongolera kumatchedwa mfundo ya ndemanga.

Mwadongosolo, dongosolo lowongolera lotere litha kuyimiridwa motere:

Mpunga. 1.1.1 - Mapangidwe a dongosolo lowongolera (MS)

Ngati dongosolo lolamulira (CS) lili ndi chithunzi cha block, mawonekedwe omwe amafanana ndi mkuyu. 1.1.1, ndi ntchito (ntchito) popanda kutengapo gawo kwa munthu (wothandizira), ndiye amatchedwa automatic control system (ACS).

Ngati dongosolo lolamulira likugwira ntchito limodzi ndi munthu (wothandizira), ndiye amatchedwa makina owongolera.

Ngati Ulamuliro umapereka lamulo loperekedwa la kusintha kwa chinthu mu nthawi, mosasamala kanthu za zotsatira za kulamulira, ndiye kuti ulamuliro woterewu umachitika momasuka, ndipo ulamulirowo umatchedwa. pulogalamu yoyendetsedwa.

Makina otsegula akuphatikizapo makina a mafakitale (mizere yotumizira, mizere yozungulira, ndi zina zotero), makina owongolera manambala apakompyuta (CNC): onani chitsanzo mumkuyu. 1.1.2.

Fig.1.1.2 - Chitsanzo cha kayendetsedwe ka pulogalamu

Chida chachikulu chikhoza kukhala, mwachitsanzo, "copier".

Popeza mu chitsanzo ichi palibe masensa (miyeso) kuyang'anira gawo lomwe likupangidwa, ngati, mwachitsanzo, wodulayo adayikidwa molakwika kapena wosweka, ndiye kuti cholinga (kupanga gawo) sichingakwaniritsidwe (kukwaniritsidwa). Kawirikawiri, m'machitidwe amtunduwu, kuwongolera kutulutsa kumafunika, komwe kumangolemba kupatuka kwa miyeso ndi mawonekedwe a gawolo kuchokera pazomwe mukufuna.

Makina owongolera okha amagawidwa m'mitundu itatu:

• machitidwe odzilamulira okha (ACS);
• machitidwe owongolera okha (ACS);
• kutsatira njira (SS).

SAR ndi SS ndi magulu a SPG ==> .

Tanthauzo: Dongosolo lodziwongolera lomwe limatsimikizira kukhazikika kwa kuchuluka kwa thupi lililonse (gulu la kuchuluka) mu chinthu chowongolera amatchedwa automatic control system (ACS).

Automatic control systems (ACS) ndi mtundu wodziwika kwambiri wamakina owongolera okha.

Woyang'anira woyamba padziko lonse lapansi (zaka za zana la 18) ndiye wowongolera Watt. Chiwembu ichi (onani mkuyu 1.1.3) chinagwiritsidwa ntchito ndi Watt ku England kuti apitirizebe kuthamanga kwa gudumu la injini ya nthunzi ndipo, motero, kukhalabe ndi liwiro lozungulira (kuyenda) kwa pulley yotumizira (lamba). ).

Mu chiwembu ichi zinthu tcheru (zoyezera masensa) ndi “zolemera” (magawo). "Zolemera" (mabwalo) "amakakamiza" mkono wa rocker ndiyeno valavu kuyenda. Choncho, dongosololi likhoza kutchulidwa ngati njira yoyendetsera mwachindunji, ndipo wolamulira akhoza kugawidwa ngati Direct acting regulator, popeza nthawi imodzi imagwira ntchito za "mita" ndi "wowongolera".

Mwachindunji akuchita owongolera gwero lina palibe mphamvu zomwe zimafunikira kuti musunthire wowongolera.

Mpunga. 1.1.3 - Watt automatic regulator circuit

Machitidwe owongolera osalunjika amafuna kukhalapo (kukhalapo) kwa amplifier (mwachitsanzo, mphamvu), chowonjezera chowonjezera chokhala ndi, mwachitsanzo, mota yamagetsi, servomotor, hydraulic drive, etc.

Chitsanzo cha makina odzilamulira okha (automatic control system), m'lingaliro lonse la tanthawuzoli, ndi dongosolo lowongolera lomwe limatsimikizira kukhazikitsidwa kwa rocket mu orbit, kumene kusintha koyendetsedwa kungakhale, mwachitsanzo, mbali pakati pa rocket. olamulira ndi zachilendo kwa Dziko Lapansi ==> onani Mkuyu. 1.1.4.a ndi mkuyu. 1.1.4.b

Mpunga. 1.1.4(a)

Mpunga. 1.1.4 (b)

1.2. Kapangidwe ka machitidwe owongolera: machitidwe osavuta komanso osiyanasiyana

Mu chiphunzitso cha Technical Systems Management, dongosolo lililonse limagawika m'magulu a maulalo olumikizidwa ndi ma network. Muzosavuta kwambiri, dongosololi liri ndi chiyanjano chimodzi, chothandizira chomwe chimaperekedwa ndi ntchito yolowera (zolowetsa), ndipo kuyankha kwa dongosolo (zotuluka) kumapezeka pazolowera.

Mu chiphunzitso cha Technical Systems Management, njira zazikulu ziwiri zoyimira maulalo amachitidwe owongolera zimagwiritsidwa ntchito:

- mu "zolowera-zotulutsa" zosintha;

- muzosintha za boma (kuti mumve zambiri, onani magawo 6 ... 7).

Kuyimilira muzosintha zolowera-zotulutsa nthawi zambiri zimagwiritsidwa ntchito pofotokoza machitidwe osavuta omwe ali ndi "zolowera" (chinthu chimodzi chowongolera) ndi "chotulutsa" chimodzi (chimodzi chowongolera, onani Chithunzi 1.2.1).

Mpunga. 1.2.1 - Kuyimira kwadongosolo kwadongosolo losavuta lowongolera

Nthawi zambiri, malongosoledwe awa amagwiritsidwa ntchito pamakina osavuta owongolera okha (makina owongolera okha).

Posachedwapa, kuyimira mumitundu yosiyanasiyana ya boma kwafala kwambiri, makamaka pamakina ovuta kwambiri, kuphatikizapo machitidwe owongolera odziyimira pawokha. Mku. 1.2.2 ikuwonetsa chifaniziro chadongosolo la multidimensional automatic control system, komwe u1(t)…um(t) - Control zochita (control vector), y1(t)…yp(t) - magawo osinthika a ACS (zotulutsa zotulutsa).

Mpunga. 1.2.2 - Kuyimilira kwadongosolo kwadongosolo lazinthu zambiri

Tiyeni tione mwatsatanetsatane kapangidwe ka ACS, kamene kakuyimiridwa muzosintha za "zolowetsa-zotulutsa" ndikukhala ndi cholowetsa chimodzi (zolowetsa kapena master, kapena control action) ndi chotuluka chimodzi (chotulutsa kapena chowongolera (kapena chosinthika) chosinthika).

Tiyeni tiyerekeze kuti chipika chojambula cha ACS yoterechi chimakhala ndi zinthu zingapo (zolumikizira). Poika maulalo molingana ndi mfundo zogwirira ntchito (zomwe maulalowo amachita), chithunzi cha ACS chikhoza kuchepetsedwa kukhala mawonekedwe awa:

Mpunga. 1.2.3 - Chojambula cha block cha dongosolo lodzilamulira lokha

Chizindikiro ε(t) kapena kusintha ε(t) zikuwonetsa kusagwirizana (zolakwika) pakutulutsa kwa chipangizo chofananizira, chomwe "chitha kugwira ntchito" m'njira zonse ziwiri zosavuta zofananira masamu (nthawi zambiri kuchotsa, kuonjezapo) komanso kufananiza zovuta (njira).

chifukwa y1(t) = y(t)*k1kumene k1 ndiye phindu, ndiye ==>
ε(t) = x(t) -y1(t) = x(t) - k1*y(t)

Ntchito yoyang'anira ndi (ngati ili yokhazikika) "kugwira ntchito" kuti athetse kusagwirizana (zolakwika) ε(t),ndi. ==> ε(t) → 0.

Tiyenera kukumbukira kuti kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe kake kakukhudzidwa ndi zochitika zonse zakunja (kulamulira, kusokoneza, kusokoneza) ndi kusokoneza mkati. Kusokoneza kumasiyana ndi kukhudzidwa kwa stochasticity (mwachisawawa) kukhalapo kwake, pomwe kukhudzidwa kumakhala pafupifupi nthawi zonse.

Kusankha zowongolera (zokhazikitsa) tidzagwiritsa ntchito x(t), kapena inu (t).

1.3. Malamulo oyambira olamulira

Ngati tibwerera ku chithunzi chomaliza (chithunzi cha chipika cha ACS mumkuyu 1.2.3), ndiye kuti ndi koyenera "kutanthauzira" gawo lomwe limagwiritsidwa ntchito ndi chipangizo chosinthira amplification (chomwe chimagwira ntchito).

Ngati chipangizo chosinthira matalikidwe (ACD) chimangowonjezera (kapena kuchepetsa) chizindikiro chosiyana ε(t), chomwe ndi: kumene - proportionality coefficient (makamaka = Const), ndiye njira yoyendetsera yotsekera yotsekeka imatchedwa mode kuwongolera moyenera (P-control).

Ngati gawo lowongolera lipanga chizindikiro chotulutsa ε1(t), molingana ndi cholakwika ε(t) ndi chophatikizika cha ε(t), i.e. , ndiye njira yowongolera iyi imatchedwa molingana-kuphatikiza (PI control). ==> kumene b - proportionality coefficient (makamaka b = Const).

Nthawi zambiri, kuwongolera kwa PI kumagwiritsidwa ntchito kukonza kuwongolera (malamulo) kulondola.

Ngati gawo lowongolera lipanga chizindikiro chotulutsa ε1(t), molingana ndi cholakwika ε(t) ndi chotuluka chake, ndiye kuti njirayi imatchedwa. molingana kusiyanitsa (PD ulamuliro): ==>

Kawirikawiri, kugwiritsa ntchito ulamuliro wa PD kumawonjezera ntchito ya ACS

Ngati gawo lowongolera lipanga chizindikiro chotulutsa ε1(t), molingana ndi cholakwika ε(t), chotuluka chake, ndi chophatikizika cha cholakwika ==> , ndiye mawonekedwe awa amatchedwa ndiye mawonekedwe owongolera awa amatchedwa proportional-integral-differentiating control mode (PID control).

Kuwongolera kwa PID nthawi zambiri kumakupatsani mwayi wopereka "zabwino" zowongolera ndi liwiro "labwino".

1.4. Gulu la machitidwe owongolera okha

1.4.1. Kugawa ndi mtundu wa kufotokozera masamu

Kutengera mtundu wa mafotokozedwe a masamu (equations of dynamics and statics), ma automatic control system (ACS) amagawidwa kukhala mzere и zopanda mzere machitidwe (mfuti zodzipangira okha kapena SAR).

"Kagulu kakang'ono" kalikonse (kamodzi ndi kosagwirizana) kagawidwa m'magulu angapo. Mwachitsanzo, mfuti zodziyendetsa zokha (SAP) zimakhala ndi zosiyana pamtundu wa mafotokozedwe a masamu.
Popeza semesita iyi iganizira zamphamvu zamakina owongolera okha (malamulo), pansipa timapereka magawo motengera mtundu wa mafotokozedwe a masamu a linear automatic control system (ACS):

1) Makina owongolera odziyimira pawokha omwe amafotokozedwa muzosintha zotulutsa ndi ma equation wamba (ODE) ndi okhazikika coefficients:

kumene x(t) - chikoka cholowetsa; y (t) - chikoka chotulutsa (mtengo wosinthika).

Ngati tigwiritsa ntchito mawonekedwe ("compact") polemba mzere wa ODE, ndiye kuti equation (1.4.1) ikhoza kuyimiridwa motere:

kuti, p = d/dt - wogwiritsa ntchito zosiyanasiyana; L(p), N(p) ndi omwe ali ndi mizere yofananira, omwe ali ofanana ndi:

2) Liniya makina odzilamulira okha ofotokozedwa ndi liniya wamba differential equations (ODE) ndi zosintha (mu nthawi) coefficients:

Nthawi zambiri, machitidwe otere amatha kugawidwa ngati nonlinear automatic control systems (NSA).

3) Liniya makina odzilamulira okha ofotokozedwa ndi liniya kusiyana equations:

kumene f (…) - liniya ntchito ya mikangano; k = 1, 2, 3 ... - nambala zonse; Δt - quantization interval (nthawi yazitsanzo).

Equation (1.4.4) ikhoza kuyimiridwa mu "compact" notation:

Nthawi zambiri, kulongosola uku kwa makina owongolera odziwikiratu (ACS) amagwiritsidwa ntchito pamakina owongolera digito (pogwiritsa ntchito kompyuta).

4) Linear automatic control systems ndikuchedwa:

kumene L(p), N(p) - ogwira ntchito zosiyanasiyana; τ - nthawi yocheperako kapena kuchepera nthawi zonse.

Ngati othandizira L(p) и N(p) kuwonongeka (L(p) = 1; N (p) = 1), ndiye equation (1.4.6) imagwirizana ndi kufotokozera masamu a mphamvu ya ulalo wochedwa:

ndi chiwonetsero chazithunzi za katundu wake chikuwonetsedwa mkuyu. 1.4.1

Mpunga. 1.4.1 - Zithunzi zolowetsa ndi zotuluka za ulalo wochedwa wochedwetsa

5) Linear automatic control systems zofotokozedwa ndi mizere yosiyana yosiyana mu zotuluka pang'ono. Mfuti zodzipangira zokha zoterezi nthawi zambiri zimatchedwa kugawa machitidwe owongolera. ==> Chitsanzo "chosatsimikizika" cha kufotokozera motere:

Dongosolo la equations (1.4.7) limafotokoza za kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe kake, i.e. kuchuluka kolamulidwa kumadalira osati pa nthawi yokha, komanso kugwirizanitsa malo amodzi.
Ngati dongosolo lolamulira ndi chinthu cha "spatial", ndiye ==>

kumene zimatengera nthawi ndi malo olumikizirana ndi ma radius vector

6) mfuti zodzipangira zokha zomwe zafotokozedwa machitidwe Ma ODE, kapena machitidwe a equations, kapena machitidwe a equation yapang'ono ==> ndi zina zotero...

Gulu lofananalo litha kuperekedwa kwa machitidwe owongolera odziyimira pawokha (SAP)…

Pamakina oyendera mizere zofunika izi zimakwaniritsidwa:

• mzere wa mawonekedwe osasunthika a ACS;
• mzere wa dynamics equation, i.e. zosinthika zikuphatikizidwa mu dynamics equation kokha mu liniya kuphatikiza.

Mawonekedwe osasunthika ndi kudalira kwa zotulutsa pakukula kwa chikoka cholowetsa mumkhalidwe wokhazikika (pamene njira zonse zosakhalitsa zatha).

Pamakina olongosoledwa ndi mizere ya mizere wamba yokhala ndi ma coefficients osasinthasintha, mawonekedwe osasunthika amachokera ku dynamic equation (1.4.1) pokhazikitsa mawu onse osakhazikika kukhala ziro ==>

Chithunzi 1.4.2 chikuwonetsa zitsanzo za mikhalidwe yokhazikika komanso yosasinthika ya machitidwe owongolera (malamulo).

Mpunga. 1.4.2 - Zitsanzo za mikhalidwe yokhazikika komanso yosagwirizana

Kusagwirizana kwa mawu omwe ali ndi zotengera nthawi mu ma equation osinthika amatha kubwera mukamagwiritsa ntchito masamu osatsata mzere (*, /, , , tchimo, ln, etc.). Mwachitsanzo, poganizira za dynamics equation ya mfuti yodziyendetsa yokha "yosadziwika".

Zindikirani kuti mu equation iyi, yokhala ndi mawonekedwe okhazikika mawu achiwiri ndi achitatu (mawu amphamvu) kumanzere kwa equation ndi zopanda mzere, choncho ACS yofotokozedwa ndi equation yofanana ndi nonlinear mu zamphamvu dongosolo.

1.4.2. Kugawikana molingana ndi momwe ma siginolo amapatsirana

Kutengera mtundu wa ma siginecha omwe amatumizidwa, makina owongolera (kapena owongolera) amagawidwa mu:

• machitidwe opitilira (machitidwe opitilira);
• machitidwe otumizirana mauthenga (machitidwe otumizirana mauthenga);
• machitidwe osiyanasiyana (pulse ndi digito).

Dongosolo mosalekeza zochita zimatchedwa ACS wotero, mu iliyonse ya maulalo amene mosalekeza kusintha kwa chizindikiro cholowera pakapita nthawi zimagwirizana ndi mosalekeza kusintha kwa chizindikiro chotuluka, pamene lamulo la kusintha kwa chizindikiro chotuluka likhoza kukhala lopanda pake. Kuti mfuti yodziyendetsa yokha ikhale yopitilira, ndikofunikira kuti mawonekedwe osasunthika a onse maulalo anali mosalekeza.

Mpunga. 1.4.3 - Chitsanzo cha kachitidwe kosalekeza

Dongosolo kutumiza zochita zimatchedwa dongosolo lodzilamulira lokha lomwe osachepera mu ulalo umodzi, ndi kusintha kosalekeza kwa mtengo wolowera, mtengo wotuluka pa mphindi zina zowongolera umasintha "kulumpha" kutengera mtengo wa chizindikiro cholowera. Makhalidwe osasunthika a ulalo wotere ali nawo kuswa mfundo kapena kusweka ndi kuphulika.

Mpunga. 1.4.4 - Zitsanzo za mawonekedwe a relay static

Dongosolo wamba zochita ndi dongosolo lomwe osachepera mu ulalo umodzi, ndikusintha kosalekeza kwa kuchuluka kwa zolowetsa, kuchuluka kwake kumakhala mtundu wa zikhumbo za munthu, kuonekera pakapita nthawi inayake.

Ulalo womwe umasintha siginecha yopitilira kukhala chizindikiro chodziwika bwino umatchedwa pulse link. Mtundu wofananira wa ma siginecha opatsirana umapezeka pamakina owongolera omwe ali ndi kompyuta kapena wowongolera.

Njira zomwe zimagwiritsidwa ntchito kwambiri (ma algorithms) zosinthira siginecha yolowera mosalekeza kukhala siginecha yotulutsa ndi:

• pulse amplitude modulation (PAM);
• Pulse wide modulation (PWM).

Mku. Chithunzi 1.4.5 chikuwonetsa chithunzithunzi cha pulse amplitude modulation (PAM) algorithm. Pamwamba pa Mkuyu. kudalira nthawi kumaperekedwa x(t) - chizindikiro pakhomo mu gawo la impulse. Chizindikiro chotulutsa cha pulse block (ulalo) y (t) - kutsatizana kwa makoswe amakona anayi kuwonekera ndi chamuyaya quantization nthawi Δt (onani m'munsi mwa chithunzi). Kutalika kwa ma pulses ndi ofanana komanso ofanana ndi Δ. Kuthamanga kwamphamvu pakutulutsa kwa chipikacho ndi kolingana ndi mtengo wofananira wa chizindikiro chopitilira x (t) pakulowetsa kwa chipikachi.

Mpunga. 1.4.5 - Kugwiritsa ntchito kusintha kwa pulse amplitude

Njira iyi yosinthira mphamvu ya pulse inali yofala kwambiri muzitsulo zamagetsi zamagetsi zowonetsera ndi chitetezo (CPS) za zomera za nyukiliya (NPP) mu 70s ... 80s ya zaka zapitazo.

Mku. Chithunzi 1.4.6 chikuwonetsa chithunzithunzi cha pulse width modulation (PWM) algorithm. Pamwamba pa Mkuyu. 1.14 ikuwonetsa kudalira nthawi x(t) - chizindikiro pakulowetsa ku ulalo wa pulse. Chizindikiro chotulutsa cha pulse block (ulalo) y (t) - kutsatizana kwa ma pulses a rectangular kuwoneka ndi nthawi yokhazikika ya quantization Δt (onani pansi pa Mkuyu 1.14). Kukula kwa ma pulses onse ndi ofanana. Kutalika kwa pulse Δt pakutulutsa kwa chipikacho ndi chofanana ndi mtengo womwewo wa chizindikiro chopitilira x(t) pakulowetsa kwa pulse block.

Mpunga. 1.4.6 - Kugwiritsa ntchito kusintha kwa pulse wide

Njira iyi yosinthira ma pulse pakali pano ndiyomwe imapezeka kwambiri pazida zoyezera zamagetsi zamagetsi zowongolera ndi chitetezo (CPS) zamafakitale a nyukiliya (NPP) ndi ACS yamakina ena aukadaulo.

Pomaliza ndimeyi, ziyenera kudziwidwa kuti ngati nthawi yodziwika ikupitilira maulalo ena amfuti zodziyendetsa okha (SAP) kwambiri more Δt (mwa maulamuliro a kukula), ndiye dongosolo la pulse itha kuonedwa ngati njira yoyendetsera zodziwikiratu (pogwiritsa ntchito onse AIM ndi PWM).

1.4.3. Kugawa ndi chikhalidwe cha kulamulira

Kutengera mtundu wa njira zowongolera, makina owongolera okha amagawidwa m'mitundu iyi:

• machitidwe owongolera odziwikiratu, momwe chizindikiro cholowera chimatha kulumikizidwa momveka bwino ndi chizindikirocho (ndi mosemphanitsa);
• stochastic ACS (chiwerengero, chotheka), momwe ACS "imayankha" ku siginecha yoperekedwa mwachisawawa (stochastic) chizindikiro chotulutsa.

Chizindikiro cha stochastic chimadziwika ndi:

• lamulo la kugawa;
• Chiyembekezo cha masamu (mtengo wapakati);
• kubalalitsidwa (kupatuka kokhazikika).

Mtundu wa stochastic wa njira yowongolera nthawi zambiri umawonedwa mu kwenikweni nonlinear ACS zonse kuchokera pamalingaliro a mawonekedwe osasunthika, komanso kuchokera kumalingaliro (ngakhale mpaka kumlingo wokulirapo) wa kusagwirizana kwa mawu osinthika mumayendedwe amphamvu.

Mpunga. 1.4.7 - Kugawidwa kwa mtengo wotuluka wa stochastic automatic control system

Kuwonjezera pa mitundu ikuluikulu yomwe ili pamwambayi yamagulu a machitidwe olamulira, palinso magulu ena. Mwachitsanzo, gulu likhoza kuchitidwa molingana ndi njira yoyendetsera ntchito ndikutengera kuyanjana ndi chilengedwe chakunja komanso kuthekera kosinthira ACS kuti isinthe magawo a chilengedwe. Systems amagawidwa m'magulu awiri akuluakulu:

1) machitidwe olamulira (osadzisintha) popanda kusintha; Machitidwewa ali m'gulu la osavuta omwe sasintha mawonekedwe awo panthawi yoyang'anira. Ndiwo otukuka kwambiri komanso ogwiritsidwa ntchito kwambiri. Machitidwe olamulira wamba amagawidwa m'magulu atatu: otseguka, otsekedwa ndi machitidwe ogwirizanitsa.

2) Njira zodziwongolera zokha (zosinthika). M'machitidwe awa, pamene zinthu zakunja kapena mawonekedwe a chinthu cholamulidwa chikusintha, kusintha kwachindunji (osakonzedweratu) pazigawo za chipangizo chowongolera kumachitika chifukwa cha kusintha kwa ma coefficients olamulira, dongosolo lolamulira, kapena ngakhale kukhazikitsidwa kwa zinthu zatsopano. .

Chitsanzo china cha gulu: molingana ndi maziko otsogola (gawo limodzi, magawo awiri, milingo yambiri).

Ogwiritsa ntchito olembetsedwa okha ndi omwe angatenge nawo gawo pa kafukufukuyu. Lowani muakauntichonde.

Kodi mukufuna kupitiriza kufalitsa nkhani za UTS?

• 88,7%Yes118

• 7,5%No10

• 3,8%sindikudziwa5

Ogwiritsa ntchito 133 adavota. Ogwiritsa 10 adakana.

Source: www.habr.com