National-instruments Xmath Interactive Control Design Module ICDM Manual de usuario Pagina 105
- Pagina / 129
- Tabla de contenidos
- MARCADORES
Valorado. / 5. Basado en revisión del cliente
Chapter 12 LQG/H-Infinity Synthesis
© National Instruments Corporation 12-11 Xmath Interactive Control Design Module
The system equations of plant, filters, and integrators are as follows:
Standard LQG (All Toggle Buttons “Off”)
In LQG synthesis mode, the controller C minimizes a weighted sum of the
steady-state actuator and output variance:
where E denotes expectation.
Integral Action
When Integral action is enabled, the controller minimizes a variation on the
LQG cost:
where
Plant (P):
Output filter (F
y
):
Input filter (F
u
):
Integrator:
x
·
p
A
p
x
p
B
p
u
act
B
p
w
p
w
x
+++=
y
p
C
p
x
p
w
s
w
y
++=
y
˜
C
y
˜
x
y
˜
w
y
˜
+=
x
·
y
˜
A
y
˜
x
y
˜
B
y
˜
y
p
W
p
w
F
++=
x
·
u
˜
A
u
˜
x
u
˜
B
u
˜
u
act
+=
u
˜
C
u
˜
x
u
˜
D
u
˜
u
act
+=
x
·
I
y
˜
W
I
w
r
+=
y
I
x
I
w
r
+=
JE
t ∞→
lim
x
T
u
T
R
xx
R
xu
R
ux
R
uu
x
T
u
T
ρ
ui,
u
i
2
,
i 1=
n
u
∑
+ ρ
yj,
y
j
2
,
j 1=
n
y
∑
+
⎝⎠
⎜⎟
⎜⎟
⎛⎞
=
JE
t ∞→
lim
x
T
u
T
R
xx
R
xu
R
ux
R
uu
x
T
u
T
ρ
ui,
u
i
2
i 1=
n
u
∑
ρ
yj,
y
j
2
y
Ij,
2
+[]
j 1=
n
y
∑
++
⎝⎠
⎜⎟
⎜⎟
⎛⎞
=
⎝⎠
⎜⎟
⎜⎟
⎛⎞
a
y
Ij,
t()
1
T
int
--------
y
j
ϒ()ϒd
0
t
∫
=
- NI MATRIXx 1
- Important Information 3
- Conventions 4
- Chapter 3 6
- Chapter 4 6
- Chapter 11 9
- Chapter 12 9
- LQG/H-Infinity Synthesis 9
- Contents 10
- Introduction 11
- Chapter 1 Introduction 12
- Commonly-Used Nomenclature 13
- Related Publications 13
- ICDM Overview 14
- Introduction to SISO Design 16
- Overview of ICDM 18
- ICDM Main Window 19
- PID Synthesis Window 19
- Root Locus Synthesis Window 19
- Pole Place Synthesis Window 19
- LQG Synthesis Window 20
- H-Infinity Synthesis Window 20
- History Window 20
- Alternate Plant Window 20
- Origin of the Controller 21
- Using ICDM 24
- General Plotting Features 26
- Ranges of Plots and Sliders 26
- Data-Viewing Plots 27
- Interactive Plot Re-ranging 28
- Editing Poles and Zeros 28
- Complex Poles and Zeros 29
- Isolated Real Poles and Zeros 29
- Communicating with Xmath 33
- Most Common Usage 34
- Default Plants 34
- Chapter 3 ICDM Main Window 35
- ICDM Plots 36
- Selecting Plots 36
- Ranges of Plots 37
- Plot Magnify Windows 38
- Edit Menu 40
- PID Synthesis 41
- Chapter 4 PID Synthesis 42
- Ranges of Sliders and Plots 45
- Integral Term Normalization 45
- Derivative Term Normalization 46
- Rolloff Term Normalization 46
- Root Locus Synthesis 47
- Terminology 49
- Plotting Styles 50
- Phase Contours 51
- Magnitude Contours 51
- Manipulating the Parameters 52
- Adding a Pole-Zero Pair 53
- Deleting Pole-Zero Pairs 53
- Pole Place Synthesis 56
- Pole Place Modes 57
- Normal Mode 58
- Integral Action Mode 59
- State-Space Interpretation 60
- Opening the Pole Place Window 60
- Time and Frequency Scaling 60
- Butterworth Configuration 61
- Editing the Closed-Loop Poles 61
- Slider and Plot Ranges 61
- LQG Synthesis 62
- Chapter 7 LQG Synthesis 63
- Synthesis Modes 64
- Output Weight Editing 67
- R in the LQG window 69
- window 69
- H-Infinity Synthesis 70
- Opening the Synthesis Window 72
- Central H-Infinity Controller 73
- Infeasible Parameter Values 75
- Editing the Comments 78
- Deleting History List Entries 79
- Cycling Through Designs 79
- Using the History List 80
- Normalization 84
- Adding Unmodeled Dynamics 85
- Ranges of Sliders and Plot 86
- Introduction to MIMO Design 87
- Transfer Functions 88
- ICDM MIMO Windows 91
- MIMO Plot Window 92
- LQG/H-Infinity Weights Window 96
- Decay Rate Window 99
- H-Infinity Performance Window 99
- Frequency Weights Window 100
- Setup and Terminology 102
- Integral Action 105
- Exponential Time Weighting 106
- Weight Editing 106
- How to Select w, u, y, and z 107
- H-Infinity Solution 108
- Main Window 110
- in the LQG window 111
- Multi-Loop Synthesis 112
- Setup and Synthesis Method 114
- Graphical Editor 118
- Editing and Deleting Loops 119
- Loop Gain Magnitude and Phase 119
- Using an Xmath GUI Tool 120
- GUI Functions 122
- GUI Objects 122
- and the left mouse button 123
- Technical Support and 126
- Professional Services 126
Relacionado con productos y manuales para Hardware National-instruments Xmath Interactive Control Design Module ICDM
Hardware National-instruments NI-VXI Manual de usuario
(149 paginas)
(149 paginas)
Hardware National-instruments NI 6014 Manual de usuario
(109 paginas)
(109 paginas)
© 2020, manymanuals.es. Todos los derechos reservados | 0.058 s |
Manymanuals.com
Manymanuals.de
Manymanuals.fr
Manymanuals.it
Manymanuals.pl
Manymanuals.cz
Manymanuals.es
Manymanuals-pt.com
Comentarios a estos manuales