Ngishicilela isahluko sokuqala sezinkulumo ngethiyori yokulawula okuzenzakalelayo, ngemva kwalokho impilo yakho ngeke isafana.

Izinkulumo eziphathelene nesifundo esithi "Ukuphathwa Kwezinhlelo Zobuchwepheshe" zinikezwa u-Oleg Stepanovich Kozlov eMnyangweni "We-Nuclear Reactors kanye Nezitshalo Zamandla", i-Faculty of "Power Mechanical Engineering" ye-MSTU. N.E. Bauman. Engimbonga kakhulu ngakho.

Lezi zinkulumo zisalungiselelwa ukushicilelwa njengezincwadi, futhi njengoba kukhona ochwepheshe be-TAU, abafundi, kanye nalabo abanesithakazelo esifundweni, noma yikuphi ukugxekwa kwamukelekile.

1. Imiqondo eyisisekelo yethiyori yokulawula izinhlelo zobuchwepheshe

1.1. Imigomo, izimiso zokuphatha, izinhlobo zezinhlelo zokuphatha, izincazelo eziyisisekelo, izibonelo

Ukuthuthukiswa nokuthuthukiswa kokukhiqizwa kwezimboni (amandla, ezokuthutha, ubunjiniyela bemishini, ubuchwepheshe basemkhathini, njll.) kudinga ukwanda okuqhubekayo kokukhiqizwa kwemishini namayunithi, ukuthuthukisa ikhwalithi yomkhiqizo, ukunciphisa izindleko futhi, ikakhulukazi kumandla enuzi, ukwanda okukhulu ukuphepha (kwenuzi, imisebe, njll.) .d.) ukusebenza kwezikhungo zamandla enuzi kanye nokufakwa kwe-nuclear.

Ukuqaliswa kwemigomo ebekiwe akunakwenzeka ngaphandle kokwethulwa kwezinhlelo zokulawula zesimanje, okuhlanganisa kokubili okuzenzakalelayo (ngokubamba iqhaza komqhubi womuntu) kanye nokuzenzakalelayo (ngaphandle kokubamba iqhaza komqhubi womuntu) izinhlelo zokulawula (CS).

Incazelo: Ukuphatha kuyinhlangano yenqubo ethile yezobuchwepheshe eqinisekisa ukufezwa komgomo omisiwe.

Ithiyori yokulawula igatsha lesayensi nobuchwepheshe besimanje. Kusekelwe (okusekelwe) kukho kokubili okuyisisekelo (isayensi evamile) (isibonelo, izibalo, i-physics, ikhemistri, njll.) kanye neziyalo ezisetshenziswayo (i-electronics, ubuchwepheshe be-microprocessor, ukuhlela, njll.).

Noma iyiphi inqubo yokulawula (okuzenzakalelayo) iqukethe izigaba ezilandelayo (ama-elementi):

• ukuthola ulwazi mayelana nomsebenzi wokulawula;
• ukuthola ulwazi mayelana nomphumela wabaphathi;
• ukuhlaziywa kolwazi olutholiwe;
• ukuqaliswa kwesinqumo (umthelela entweni yokulawula).

Ukuze kusetshenziswe Inqubo Yokuphatha, uhlelo lokuphatha (CS) kufanele lube:

• imithombo yolwazi mayelana nomsebenzi wokuphatha;
• imithombo yolwazi mayelana nemiphumela yokulawula (izinzwa ezihlukahlukene, amadivaysi okulinganisa, imitshina, njll.);
• amadivaysi okuhlaziya ulwazi olutholiwe nokuthuthukisa izixazululo;
• ama-actuator asebenza ku-Control Object, equkethe: isilawuli, izinjini, amadivayisi okuguqula i-amplification, njll.

Incazelo: Uma uhlelo lokulawula (CS) luqukethe zonke izingxenye ezingenhla, luyavalwa.

Incazelo: Ukulawula into yobuchwepheshe usebenzisa ulwazi mayelana nemiphumela yokulawula kubizwa ngokuthi isimiso sempendulo.

Ngokohlelo, isistimu yokulawula enjalo ingamelwa kanje:

Ilayisi. 1.1.1 — Isakhiwo sohlelo lokulawula (MS)

Uma uhlelo lokulawula (CS) lunomdwebo we-block, ifomu elihambisana ne-Fig. 1.1.1, kanye nemisebenzi (isebenza) ngaphandle kokubamba iqhaza komuntu (umqhubi), bese kuthiwa isistimu yokulawula okuzenzakalelayo (ACS).

Uma uhlelo lokulawula lusebenza ngokubamba iqhaza komuntu (opharetha), kubizwa ngokuthi uhlelo lokulawula oluzenzakalelayo.

Uma i-Control ihlinzeka ngomthetho onikeziwe wokushintsha into ngesikhathi, kungakhathaliseki imiphumela yokulawula, lokho kulawula kwenziwa ku-loop evulekile, futhi ukulawula ngokwayo kubizwa ngokuthi. uhlelo olulawulwayo.

Amasistimu e-open-loop ahlanganisa imishini yezimboni (imigqa yokuthutha, imigqa ejikelezayo, njll.), imishini yokulawula izinombolo zekhompyutha (CNC): bona isibonelo ku-Fig. 1.1.2.

Fig.1.1.2 - Isibonelo sokulawula uhlelo

Idivayisi eyinhloko ingaba, isibonelo, "umkopishi".

Njengoba kulesi sibonelo azikho izinzwa (izilinganiso) eziqapha ingxenye ekhiqizwayo, uma, isibonelo, i-cutter ifakwe ngokungalungile noma iphukile, khona-ke umgomo obekiwe (ukukhiqizwa kwengxenye) awukwazi ukufezwa (ufezeke). Ngokujwayelekile, ezinhlelweni zalolu hlobo, ukulawulwa kokuphumayo kuyadingeka, okuzorekhoda kuphela ukuchezuka kobukhulu nokuma kwengxenye kusuka kule oyifunayo.

Amasistimu okulawula okuzenzakalelayo ahlukaniswe ngezinhlobo ezi-3:

• amasistimu okulawula okuzenzakalelayo (ACS);
• amasistimu okulawula okuzenzakalelayo (ACS);
• amasistimu wokulandela umkhondo (SS).

I-SAR ne-SS amasethi angaphansi e-SPG ==> .

Incazelo: Isistimu yokulawula okuzenzakalelayo eqinisekisa ukungaguquguquki kwanoma yiliphi inani elibonakalayo (iqembu lamanani) entweni yokulawula ibizwa ngokuthi i-automatic control system (ACS).

Amasistimu okulawula okuzenzakalelayo (ACS) awuhlobo oluvame kakhulu lwezinhlelo zokulawula ezizenzakalelayo.

Isilawuli sokuqala esizenzakalelayo emhlabeni (ikhulu le-18) siyisilawuli se-Watt. Lolu hlelo (bheka u-Fig. 1.1.3) lwaqalwa nguWatt eNgilandi ukuze kugcinwe isivinini esiqhubekayo sokujikeleza kwesondo lenjini ye-steam futhi, ngokufanele, ukugcina isivinini esiqhubekayo sokujikeleza (ukunyakaza) kwe-pulley yokudlulisa (ibhande ).

Kulolu hlelo izakhi ezibucayi (izinzwa zokulinganisa) “izisindo” (ama-sphere). “Izisindo” (ama-sphere) ziphinde “ziphoqe” ingalo ye-rocker bese i-valve inyakaze. Ngakho-ke, lolu hlelo lungahlukaniswa njengesistimu yokulawula okuqondile, futhi umlawuli angahlukaniswa ngokuthi isilawuli esisebenza ngqo, njengoba ngesikhathi esifanayo yenza imisebenzi yakho kokubili "imitha" kanye "nomlawuli".

Kubalawuli ababambele ngqo umthombo owengeziwe awekho amandla adingekayo ukuze uhambise isilawuli.

Ilayisi. 1.1.3 — Isekethe yesilawuli esizenzakalelayo se-Watt

Izinhlelo zokulawula ezingaqondile zidinga ukuba khona (ukuba khona) kwe-amplifier (isibonelo, amandla), i-actuator eyengeziwe equkethe, isibonelo, i-motor kagesi, i-servomotor, i-hydraulic drive, njll.

Isibonelo sesistimu yokulawula okuzenzakalelayo (isistimu yokulawula okuzenzakalelayo), ngomqondo ogcwele wale ncazelo, uhlelo lokulawula oluqinisekisa ukwethulwa kwe-rocket ku-orbit, lapho okuguquguqukayo okulawulwayo kungaba khona, isibonelo, i-engeli phakathi kwe-rocket. i-eksisi nokujwayelekile eMhlabeni ==> bheka Fig. 1.1.4.a kanye nomkhiwane. 1.1.4.b

Ilayisi. 1.1.4(a)

Ilayisi. 1.1.4 (b)

1.2. Ukwakheka kwezinhlelo zokulawula: amasistimu alula nama-multidimensional

Kuthiyori yeTechnical Systems Management, noma yiluphi uhlelo luvamise ukuhlukaniswa lube isethi yezixhumanisi ezixhunywe kuzakhiwo zenethiwekhi. Esimweni esilula kakhulu, uhlelo luqukethe isixhumanisi esisodwa, okokufaka okuhlinzekwa ngesenzo sokufaka (okokufaka), futhi impendulo yesistimu (okuphumayo) itholakala kokokufaka.

Emcabangweni weTechnical Systems Management, izindlela ezi-2 eziyinhloko zokumela izixhumanisi zezinhlelo zokulawula zisetshenziswa:

— kokuguquguqukayo “kokufaka-okuphumayo”;

— ngezimo eziguquguqukayo (ukuthola imininingwane eyengeziwe, bheka izigaba 6...7).

Ukumelwa kweziguquguquko zokufakwayo kokufakwayo kuvame ukusetshenziselwa ukuchaza izinhlelo ezilula ngokuqhathaniswa “ezinokokufaka” okukodwa (isenzo sokulawula esisodwa) kanye “nokukhiphayo” okukodwa (okuguquguqukayo okukodwa okulawulwayo, bheka Umfanekiso 1.2.1).

Ilayisi. 1.2.1 – Ukumelwa okuhleliwe kwesistimu yokulawula elula

Ngokuvamile, le ncazelo isetshenziselwa izinhlelo zokulawula ezizenzakalelayo ezilula ngokobuchwepheshe (amasistimu okulawula okuzenzakalelayo).

Muva nje, ukumelwa kokuguquguquka kombuso sekusakazeke kabanzi, ikakhulukazi kumasistimu ayinkimbinkimbi yobuchwepheshe, okuhlanganisa amasistimu okulawula okuzenzakalelayo e-multidimensional. Emfanekisweni. 1.2.2 kukhombisa ukumelwa kohlelo lwesistimu yokulawula okuzenzakalelayo enezinhlangothi eziningi, lapho u1(t)...um(t) - lawula izenzo (lawula i-vector), y1(t)…yp(t) - Imingcele eguquguqukayo ye-ACS (i-vector yokuphumayo).

Ilayisi. 1.2.2 — Ukumelwa okuhleliwe kohlelo lokulawula olunezinhlangothi eziningi

Ake sicabangele ngokuningiliziwe isakhiwo se-ACS, esimelelwe kokuguquguqukayo “kokufaka-okukhiphayo” nokuba nokokufaka okukodwa (okokufaka noma okuyinhloko, noma isenzo sokulawula) kanye nokuphumayo okukodwa (isenzo sokukhiphayo noma okuguquguqukayo okulawulwayo (noma okulungisekayo).

Ake sicabange ukuthi umdwebo we-block we-ACS enjalo uqukethe inombolo ethile yezakhi (izixhumanisi). Ngokuhlanganisa izixhumanisi ngokwesimiso sokusebenza (okwenziwa izixhumanisi), umdwebo wesakhiwo we-ACS ungancishiswa ube yifomu elijwayelekile elilandelayo:

Ilayisi. 1.2.3 — Block diagram of the automatic control system

Uphawu ε(t) noma ukuguquguquka ε(t) ibonisa ukungafani (iphutha) ekukhishweni kwedivayisi yokuqhathanisa, "engakwazi" ukusebenza ngendlela yakho kokubili ukusebenza okulula kokuqhathanisa nezibalo (imvamisa ukususa, ukungezwa okuvamisile) kanye nemisebenzi yokuqhathanisa eyinkimbinkimbi (izinqubo).

Kusukela y1(t) = y(t)*k1kuphi k1 inzuzo, bese ==>
ε(t) = x(t) - y1(t) = x(t) - k1*y(t)

Umsebenzi wesistimu yokulawula ukuthi (uma izinzile) "ukusebenza" ukuqeda ukungafani (iphutha) ε(t), i.e. ==> ε(t) → 0.

Kumele kuqashelwe ukuthi uhlelo lokulawula luthinteka kokubili amathonya angaphandle (ukulawula, ukuphazamisa, ukuphazamiseka) nokuphazanyiswa kwangaphakathi. Ukugxambukela kuyahluka emthelela ngokumiswa (okungahleliwe) kokuba khona kwayo, kuyilapho umthelela cishe uhlala unquma.

Ukuqoka isilawuli (isenzo sokusetha) sizosebenzisa noma yikuphi x(t), noma u(t).

1.3. Imithetho eyisisekelo yokulawula

Uma sibuyela kumfanekiso wokugcina (umdwebo we-block we-ACS ku-Fig. 1.2.3), ngakho-ke kuyadingeka "ukucacisa" indima edlalwa idivayisi yokuguqula i-amplification (miphi imisebenzi eyenzayo).

Uma idivayisi yokuguqula i-amplification (ACD) ithuthukisa kuphela (noma inciphisa) isignali engafanele ε(t), okungukuthi: kuphi - i-proportionality coefficient (esimeni esithile = Const), khona-ke imodi enjalo yokulawula yesistimu yokulawula okuzenzakalelayo evaliwe ibizwa ngokuthi imodi ukulawula okulinganayo (P-control).

Uma iyunithi yokulawula ikhiqiza isignali yokuphumayo ε1(t), ngokulingana nephutha ε(t) kanye nokuhlanganisa kuka-ε(t), i.e. , bese kuthiwa le mode yokulawula ngokulinganayo-ukuhlanganisa (PI control). ==> kuphi b - i-proportionality coefficient (esimeni esithile b = Const).

Ngokuvamile, ukulawula kwe-PI kusetshenziselwa ukuthuthukisa ukunemba kokulawula (ukulawula).

Uma iyunithi yokulawula ikhiqiza isignali yokuphumayo ε1(t), ngokulingana nephutha ε(t) nokuphuma kwayo, le modi ibizwa ngokuthi. ukwehlukanisa ngokulinganayo (Ukulawulwa kwePD): ==>

Ngokujwayelekile, ukusetshenziswa kokulawulwa kwe-PD kukhulisa ukusebenza kwe-ACS

Uma iyunithi yokulawula ikhiqiza isignali yokuphumayo ε1(t), ngokulingana nephutha ε(t), okuphuma kuyo, kanye nengxenye yephutha ==> , khona-ke le modi ibizwa ngokuthi ke le mode yokulawula ibizwa ngokuthi proportional-integral-differentiating control mode (Ukulawulwa kwe-PID).

Ukulawulwa kwe-PID kuvame ukukuvumela ukuthi unikeze ngokunemba kokulawula "okuhle" ngesivinini "esihle".

1.4. Ukuhlukaniswa kwamasistimu okulawula okuzenzakalelayo

1.4.1. Ukuhlukaniswa ngohlobo lwencazelo yezibalo

Ngokusekelwe ohlotsheni lwencazelo yezibalo (izibalo ze-dynamics kanye ne-statics), amasistimu okulawula okuzenzakalelayo (ACS) ahlukaniswe abe umugqa и okungaqondile amasistimu (izibhamu ezizishayelayo noma i-SAR).

I-"subclass" ngayinye (eqondile nengaqondile) ihlukaniswe ngamanani "ama-subclass". Isibonelo, izibhamu ezizihambelayo (SAP) ezinomugqa zinomehluko ohlotsheni lwencazelo yezibalo.
Njengoba le semester izocabangela izici eziguquguqukayo zesistimu yokulawula okuzenzakalelayo (izimiso) eziqondile kuphela, ngezansi sihlinzeka ngezigaba ngokuya ngohlobo lwencazelo yezibalo yamasistimu okulawula okuzenzakalelayo (ACS):

1) Amasistimu okulawula okuzenzakalelayo achazwe ngokuguquguqukayo kokufaka ngezibalo ezijwayelekile ezihlukene (ODE) nge unomphela ama-coefficients:

kuphi x(t) - umthelela wokufakwayo; y(t) – umthelela ophumayo (inani elilungisekayo).

Uma sisebenzisa indlela yesisebenzisi (“compact”) yokubhala i-ODE ewumugqa, khona-ke isibalo (1.4.1) singamelwa ngendlela elandelayo:

kuphi, p = d/dt - opharetha wokuhlukanisa; L(p), N(p) ama-opharetha omugqa womugqa ahambisanayo, alingana no:

2) Amasistimu olayini okulawula okuzenzakalelayo achazwe ngokulingana okujwayelekile okuhlukile kwezibalo (ODE) nge eziguquguqukayo (ngesikhathi) ama-coefficients:

Ezimweni ezijwayelekile, amasistimu anjalo angahlukaniswa njengamasistimu okulawula okuzenzakalelayo angaqondile (NSA).

3) Amasistimu olayini okulawula okuzenzakalelayo achazwe ngezibalo zomehluko womugqa:

kuphi f(…) - umsebenzi womugqa wezingxabano; k = 1, 2, 3... - izinombolo eziphelele; Δt - isikhawu se-quantization (isikhawu sokusampula).

I-equation (1.4.4) ingamelwa ngenothi “compact”:

Ngokuvamile, le ncazelo ye-linear automatic control systems (ACS) isetshenziswa ezinhlelweni zokulawula idijithali (kusetshenziswa ikhompuyutha).

4) Amasistimu okulawula okuzenzakalelayo anomugqa ngokubambezeleka:

kuphi L(p), N(p) - ama-opharetha ahlukene omugqa; τ - isikhathi sokusala noma ukusala kancane.

Uma ama-opharetha L(p) и N(p) degenerate (L(p) = 1; N(p) = 1), bese isibalo (1.4.6) sihambisana nencazelo yezibalo ye-dynamics yesixhumanisi sokulibaziseka esifanelekile:

kanye nomfanekiso oyingcaca wezakhiwo zawo uboniswa ku-Fig. 1.4.1

Ilayisi. 1.4.1 — Amagrafu okufakwayo nokukhishwayo kwesixhumanisi sokulibaziseka esifanelekile

5) Amasistimu olayini okulawula okuzenzakalelayo achazwe ngokulingana okuhlukile komugqa ku okuphuma kokunye ingxenye. Izibhamu ezinjalo ezizishayelayo zivame ukubizwa kwabiwa amasistimu okulawula. ==> Isibonelo "esingabonakali" sencazelo enjalo:

Isistimu yezibalo (1.4.7) ichaza ukuguquguquka kwesistimu yokulawula okuzenzakalelayo esabalaliswe ngomugqa, i.e. inani elilawulwayo alixhomekile kuphela ngesikhathi, kodwa futhi ekuxhumaneni okukodwa kwendawo.
Uma uhlelo lokulawula luyinto "yendawo", bese ==>

kuphi kuncike esikhathini kanye nezixhumanisi zendawo ezinqunywe i-vector engaba yi-radius

I-6) Izibhamu ezizishayelayo ezichazwe izinhlelo Ama-ODE, noma amasistimu wezibalo zomehluko, noma amasistimu ezibalo ezihlukene eziyingxenye ==> nokunye...

Isigaba esifanayo singahlongozwa kumasistimu okulawula okuzenzakalelayo angaqondile (SAP)…

Kuzinhlelo zomugqa izimfuneko ezilandelayo ziyahlangatshezwa:

• ukuhambisana kwezimpawu ezimile ze-ACS;
• umugqa wesibalo se-dynamics, isb. okuguquguqukayo kufakiwe kuzibalo ze-dynamics kuphela ekuhlanganisweni komugqa.

Isici esimile siwukuncika kokuphumayo kubukhulu bethonya lokokufaka esimweni esizinzile (lapho zonke izinqubo zesikhashana sezifile).

Kumasistimu achazwe ngezibalo ezijwayelekile zomugqa ezijwayelekile ezihlukanisayo ezinama-coefficient angaguquki, isici esimile sitholakala kuzibalo eziguqukayo (1.4.1) ngokusetha wonke amatemu angamile ukuze afike kuziro ==>

Umfanekiso 1.4.2 ubonisa izibonelo zezimpawu ze-static eziqondile nezingaqondile zezinhlelo zokulawula okuzenzakalelayo (ukulawula).

Ilayisi. 1.4.2 - Izibonelo zezimpawu zomugqa omile nezingezona umugqa

Ukungatholakali komugqa kwamagama aqukethe okuphuma kokuphuma kwesikhathi kuzibalo eziguqukayo kungavela uma kusetshenziswa imisebenzi yezibalo engaqondile (*, /, , , isono, ln, njll.). Isibonelo, uma kucatshangelwa i-dynamics equation yesinye isibhamu esizishayelayo “esingabonakali”

Qaphela ukuthi kule zibalo, enesici esimile esiqondile itemu yesibili neyesithathu (amatemu ashukumisayo) ohlangothini lwesokunxele lwesibalo yi okungaqondile, ngakho-ke i-ACS echazwe ngesibalo esifanayo ithi nonlinear ku ashukumisayo uhlelo.

1.4.2. Ukuhlukaniswa ngokuya ngohlobo lwamasiginali adluliswayo

Ngokusekelwe kuhlobo lwamasiginali adluliswayo, amasistimu okulawula okuzenzakalelayo (noma okulawula) ahlukaniswe abe:

• izinhlelo eziqhubekayo (izinhlelo eziqhubekayo);
• amasistimu e-relay (izinhlelo zesenzo sokudlulisa);
• izinhlelo ezihlukene zesenzo (i-pulse nedijithali).

Uhlelo okuqhubekayo isenzo sibizwa ngokuthi i-ACS, kusixhumanisi ngasinye saso okuqhubekayo ushintsho kusignali yokokufaka ngokuhamba kwesikhathi kuhambisana nokuqhubekayo ushintsho kusiginali yokuphumayo, kuyilapho umthetho woshintsho kusiginali yokuphumayo ungaba ngokunganaki. Ukuze isibhamu esizishayelayo siqhubeke, kuyadingeka ukuthi izici ezimile zazo zonke izixhumanisi beziqhubekayo.

Ilayisi. 1.4.3 - Isibonelo sesistimu eqhubekayo

Uhlelo udlulise isenzo sibizwa ngokuthi isistimu yokulawula okuzenzakalelayo lapho okungenani kusixhumanisi esisodwa, ngokushintsha okuqhubekayo kwevelu yokufaka, inani lokukhiphayo ngezikhathi ezithile zenqubo yokulawula lishintsha "ukweqa" kuye ngenani lesignali yokufaka. Isici esimile sesixhumanisi esinjalo sine amaphuzu aphule noma ukuphuka ngokuphuka.

Ilayisi. 1.4.4 - Izibonelo zezici ze-relay static

Uhlelo ezehlukene isenzo isistimu lapho okungenani kusixhumanisi esisodwa, ngoshintsho oluqhubekayo enanini lokokufaka, inani lokukhiphayo libe uhlobo lwemizwa yomuntu ngamunye, ebonakala ngemva kwesikhathi esithile.

Isixhumanisi esiguqula isignali eqhubekayo ibe isignali ehlukile ibizwa ngokuthi i-pulse link. Uhlobo olufanayo lwezimpawu ezidluliswayo lwenzeka ohlelweni lokulawula oluzenzakalelayo ngekhompyutha noma isilawuli.

Izindlela ezisetshenziswa kakhulu (ama-algorithms) zokuguqula isignali yokufaka eqhubekayo ibe isignali ephumayo eshayayo yilezi:

• i-pulse amplitude modulation (PAM);
• I-Pulse width modulation (PWM).

Emfanekisweni. Umfanekiso 1.4.5 uveza umfanekiso we-algorithm ye-pulse amplitude modulation (PAM). Phezulu kweFig. ukwencika kwesikhathi kuvezwa x(t) - isignali emnyango esigabeni se-impulse. Isignali yokuphuma kwe-pulse block (isixhumanisi) y(t) – ukulandelana kwamapulse angunxande avela nawo unomphela isikhathi se-quantization Δt (bona ingxenye engezansi yesibalo). Ubude besikhathi se-pulses buyafana futhi bulingana no-Δ. I-pulse amplitude ekuphumeni kwebhulokhi ilingana nenani elihambisanayo lesiginali eqhubekayo x(t) ekufakweni kwaleli bhulokhi.

Ilayisi. 1.4.5 - Ukuqaliswa kokushintshashintsha kwe-pulse amplitude

Le ndlela yokuguqulwa kwe-pulse yayivame kakhulu kumishini yokulinganisa ye-elekthronikhi yokulawula nokuvikela (CPS) yezitshalo zamandla enyukliya (NPP) kuma-70s ... 80s wekhulu elidlule.

Emfanekisweni. Umfanekiso 1.4.6 ubonisa umfanekiso wesithombe se-algorithm ye-pulse width modulation (PWM). Phezulu kweFig. 1.14 ikhombisa ukuncika kwesikhathi x(t) – isignali kokokufaka kusixhumanisi sokushaya kwenhliziyo. Isignali yokuphuma kwe-pulse block (isixhumanisi) y(t) - ukulandelana kwama-pulses angama-rectangular avela nge-quantization period eqhubekayo Δt (bheka phansi Fig. 1.14). I-amplitude yawo wonke ama-pulses iyafana. Ubude be-Pulse Δt ekuphumeni kwebhulokhi ilingana nenani elihambisanayo lesiginali eqhubekayo x(t) ekufakweni kwe-pulse block.

Ilayisi. 1.4.6 - Ukuqaliswa kokuguquguquka kobubanzi be-pulse

Le ndlela yokuguquguquka kokushaya kwenhliziyo iyona evame kakhulu ezinsizeni zokukala zikagesi zezinhlelo zokulawula nokuvikela (CPS) zezitshalo zamandla enyukliya (NPP) kanye ne-ACS yezinye izinhlelo zobuchwepheshe.

Ukuphetha lesi sigatshana, kufanele kuqashelwe ukuthi uma isikhathi sesici sihlala kwezinye izixhumanisi zezibhamu ezizihambelayo (SAP) ngokuphawulekayo ngaphezulu Δt (ngama-oda wobukhulu), bese kuba uhlelo lwe-pulse ingabhekwa njengohlelo lokulawula oluzenzakalelayo oluqhubekayo (uma usebenzisa kokubili i-AIM ne-PWM).

1.4.3. Ukuhlukaniswa ngokwemvelo yokulawula

Ngokusekelwe kumvelo yezinqubo zokulawula, amasistimu okulawula okuzenzakalelayo ahlukaniswe abe yizinhlobo ezilandelayo:

• amasistimu okulawula okuzenzakalelayo okunqumayo, lapho isiginali yokufaka ingahlotshaniswa ngokusobala nesiginali yokuphumayo (futhi ngokuphambene nalokho);
• I-stochastic ACS (izibalo, okungenzeka), lapho i-ACS "iphendula" kusignali yokufaka enikeziwe okungahleliwe (stochastic) isignali yokuphumayo.

Isiginali ye-stochastic ephumayo ibonakala ngalezi:

• umthetho wokusabalalisa;
• ukulindela kwezibalo (inani elimaphakathi);
• ukuhlakazeka (ukuchezuka okujwayelekile).

Imvelo ye-stochastic yenqubo yokulawula ivame ukubonwa ku empeleni i-ACS engaqondile kokubili ngokombono wezici ezimile, futhi kusukela endaweni yokubuka (ngisho nasezingeni elikhulu) lokungalayini kwamagama aguquguqukayo ezilinganisweni ze-dynamics.

Ilayisi. 1.4.7 — Ukusabalalisa inani eliphumayo lesistimu yokulawula okuzenzakalelayo ye-stochastic

Ngaphezu kwezinhlobo ezingenhla eziyinhloko zokuhlukaniswa kwezinhlelo zokulawula, kunezinye izigaba. Isibonelo, ukuhlukaniswa kungenziwa ngokwendlela yokulawula futhi kusekelwe ekusebenzelaneni nendawo yangaphandle kanye nekhono lokuvumelanisa i-ACS nezinguquko kumingcele yemvelo. Amasistimu ahlukaniswe amakilasi amabili amakhulu:

1) Izinhlelo ezijwayelekile (ezingazilungiseleli) ngaphandle kokuzivumelanisa nezimo; Lezi zinhlelo ziyingxenye yalezo ezilula ezingashintshi isakhiwo sazo ngesikhathi sokuphatha. Yizona ezithuthukiswe kakhulu futhi zisetshenziswa kabanzi. Amasistimu okulawula ajwayelekile ahlukaniswe ama-subclass amathathu: i-open-loop, i-close-loop kanye nezinhlelo zokulawula ezihlanganisiwe.

2) Izinhlelo zokulawula ukuzilungisa (adaptive). Kulezi zinhlelo, lapho izimo zangaphandle noma izici zento elawulwayo zishintsha, ushintsho oluzenzakalelayo (hhayi olunqunywe kusengaphambili) kumapharamitha wedivayisi yokulawula kwenzeka ngenxa yezinguquko kuma-coefficients wesistimu yokulawula, ukwakheka kwesistimu yokulawula, noma ngisho nokwethulwa kwezinto ezintsha. .

Esinye isibonelo sokuhlukanisa: ngokuya ngesisekelo sokulandelana (izinga elilodwa, izinga elibili, eleveli eminingi).

Abasebenzisi ababhalisiwe kuphela abangabamba iqhaza kuhlolovo. Ngena ngemvume, wamukelekile.

Qhubeka nokushicilela izinkulumo ku-UTS?

• 88,7%Yebo118

• 7,5%No10

• 3,8%angazi5

Bangu-133 abasebenzisi abavotile. Abasebenzisi abangu-10 bagobile.

Source: www.habr.com