National Instruments Xmath Interactive Control Design Module ICDM Manual de usuario Pagina 17
- Pagina / 129
- Tabla de contenidos
- MARCADORES
Valorado. / 5. Basado en revisión del cliente
Chapter 2 Introduction to SISO Design
Xmath Interactive Control Design Module 2-2 ni.com
The equations describing this system are as follows:
where y denotes the plant output or sensor signal
u denotes the plant input or actuator signal
r denotes the reference or command input signal
e denotes the error signal
P denotes the plant transfer function
C denotes the controller transfer function
In ICDM, the plant and controller transfer function are required to be
rational, that is, the ratio of two polynomials:
where n
p
, d
p
, n
c
, and d
c
are polynomials called the plant numerator,
plant denominator, controller numerator, and controller denominator,
respectively. The symbols n and d are mnemonics for numerator and
denominator. The degree of d
p
is the plant order or plant degree. Similarly,
the degree of d
c
is the controller order or controller degree.
The poles and zeros of these transfer functions are the zeros (roots) of the
denominator and numerator polynomials, respectively.
In ICDM, P and C are required to be proper polynomials; that is, they have
at least as many poles as zeros. In other words, the degree of n
p
is less than
or equal to the degree of d
p
(which is N) and similarly for n
c
and d
c
. In some
situations, the plant and controller are required to be strictly proper, which
means that there are more poles than zeros.
Other important terms include:
• The loop transfer function L is defined as L = PC. The loop gain is the
magnitude of the loop transfer function.
• The sensitivity transfer function is denoted as S and given by
S =1/(1+PC). The sensitivity transfer function is the transfer function
from the reference input r to the error signal e.
yPu=
uCe=
ery–=
Ps()
n
p
s()
d
p
s()
-----------= Cs()
n
c
s()
d
c
s()
-----------=
- 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 Software National Instruments Xmath Interactive Control Design Module ICDM
Software National Instruments FP-3000 Manual de usuario
(118 paginas)
(118 paginas)
Software National Instruments NI-488.2 Manual de usuario
(172 paginas)
(172 paginas)
Software National Instruments 320682C Manual de usuario
(454 paginas)
(454 paginas)
© 2020, manymanuals.es. Todos los derechos reservados | 0.035 s |
Manymanuals.com
Manymanuals.de
Manymanuals.fr
Manymanuals.it
Manymanuals.pl
Manymanuals.cz
Manymanuals.es
Manymanuals-pt.com
Comentarios a estos manuales