菴12蔡準盄俶諷秶

UESTC
Lirui@uestc.edu.cn
-
The Computer Simulation of Control System
u(t)x(t)
X ( s ) c ds
U ( s ) a bs
a,b,c,d
1a0,b=0()
c d
d
x[( k 1)T ] (
)u(kT )
u[( k 1)T ]
a aT
aT
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-
2a0,b0
d
z (t ) x (t ) u (t )
b
z[( k 1)T ] e
a
T
b
d c
z(kT ) ( )[(1 e
b a
a
T
b
b
)
1]u(kT )
aT
d
x[( k 1)T ] z[( k 1)T ] u (kT )
b
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-
3a =0,b0
c
d
(t ) u (t ) u (t )
x
b
b
cT
cT
z[( k 1)] z ( kT )
u( kT )
u[( k 1)T ]
2b
2b
d
x[( k 1)T ] z[( k 1)T ] u (kT )
b
UESTC
-
z[( k 1)T ] Ez(kT ) Fu(kT ) Gu[( k 1)T ]
x[( k 1)T ] Hz[( k 1)T ] Lu (kT ) Qu[( k 1)T ]

E,F,G,H,L,Q
a,b
UESTC
-
E,F,G,H,L,Q
a0,b0
a0,b0
a0,b0
exp[-(a/b)T]
cT/(2b)
(d/b-c/a)[(1-E)*b/(aT)-1]
(d/b-c/a)[1+
(E-1)(1+b/(aT))]
H
L
0
(c+d/T)/a
1
d/b
1
d/b
-d/(aT)
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r2
r1
u1
x1
u2
x2
u3
x3 u 4
x4
2
x5
u5
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-:
u1 r1
u r x x
2
1
2 2
2
x2
u3
u
x3
4
x3
u5
4 x4 x5
y x4
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u1 0 0
u 1
2
2
u3 0 1

u4 0 0
u5 0 0
0 4
0 0
0 0
1 0
1 0
1 x1 1
0 x2 0
0 x3 0

0 x4 0
0 x5 0
0
1
r1
0
r2
0
0
y 0 0 0 1 0 x1
x2
x3
x4
x5
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r [r1 , r2 ]
u [u1 , u2 , u3 , u4 , u5 ]
x [ x1 , x2 , x3 , x4 , x5 ]
u Wx W0 r
1
0
W0 0
0
0
(1);
0
1
0
0
0
y Wc x
(2)
0 0
1
2
W 0 1
0 0
0 0
Wc 0 0 0 1 0
0 4
0
0
0
0
1
1
0
0
1
0
0
0
0
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1.
2.:
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1
4-2
x
x u
s
u s
s u s
-s
u
0
us
4-2
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MATLAB
saturation.m
function x=saturation(u,s)
if (abs(u)>=s)
if (u>0) x= s;
else x=-s; end
else x= u;
end
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2
4-3
x
u s
x 0
u s
u s
s u s
us
-s
u
0
4-3
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MATLAB
deadzone.m
function x=deadzone(u,s)
if (abs(u)>=s)
if (u>0) x=u-s;
else x= u+s;end
else x=0;
end
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3
4-4 x
u(kT ) s
x(kT ) u(kT ) s
u[( k 1)T ]
u 0 x 0
u 0x 0
MATLAB
backlash.m
-s
u
0
4-4
UESTC

function [x,u1]=backlash(u1,u,x1,s)
if (u>u1)
if ((u-s)>=x1) x=u-s;else x=x1;end

else if (u<u1)
if ((u+s)<=x1) x=u+s;else x=x1;end
else x=x1;
end
end
u1=u;
u1uk-1kx1x
k-1k
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4
4-5
x
s
s
x
s
u0
u0
u
0
-s
4-5
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MATLAB
sign.m
function x=sign(u,s)
if (u>0) x = s; end
if (u<0) x=- s; end

11
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PW
W0Wc

a,b,c,d
FZs
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FZ=0
FZ=1
FZ=2
FZ=3
FZ=4
FZ=5
FZ=6
FZ=7
FZ=8
x
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FZs
P
a1 b1 c1 d1 FZ1 s1
a b c d FZ s
2
2
2
2
2
2
an bn cn d n FZ n sn

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x(i)

P,
W,W0 Wc
Tf
h
x(i)

E,F,G,H,L,Q

u(i)

x(i)
Y
u(i)
y
t=t+h
N
N
t=Tf
Y

UESTC

1 4-7,
y
r =10
+
-
s 0.5
s 0.1
1
s
2
s2
10
s 10
4-7
UESTC

0
1
W
0
0
Wc [0
0.1
0
P
2
10
0 0 1
1
0 0 0
0
, W0
0
1 0 0

0 1 0
0
0 0 1]
1 0.5 1 3 1
1 1 0 0 0
1 2 0 0 0
1 10 0 0 0
UESTC

Tf=10
h=0.025
MATLAB
UESTC

r = 10;
P = [0.1 1 0.5 1 3 1; 0 1 1 0 0 0; 2 1 2 0 0 0; 10 1 10 0 0 0];
W = [0 0 0 -1; 1 0 0 0; 0 1 0 0; 0 0 1 0];
W0 = [1; 0; 0; 0];
Wc = [0 0 0 1];
Tf = input('Simulation Time Tf = ');
T = input('Step Time h = ');
A = P(:, 1); B = P(:, 2); C = P(:, 3); D = P(:, 4);

FZ = P(:, 5); S = P(:, 6);
n = length(A);
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for i = 1: n
if (A(i) ~= 0)
if (B(i) == 0)
E(i) = 0; F(i) = 0; G(i) = 0; H(i) = 0;
L(i) = (C(i) + D(i) / T) / A(i);

Q(i) = -D(i) / (A(i) * T);
else
E(i) = exp(-A(i) * T / B(i));
F(i) = (D(i) / B(i) - C(i) / A(i)) * ((1 - E(i)) * B(i) / (A(i) * T)
- 1);
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G(i) = (D(i) / B(i) - C(i) / A(i)) * (1 + (E(i) - 1) * (1 + B(i) / (A(i) * T)));

H(i) = 1; L(i) = D(i) / B(i); Q(i) = 0;
end
else
if (B(i) ~= 0)
E(i) = 1;
F(i) = 0.5 * C(i) * T / B(i);
G(i) = F(i); H(i) = 1;

L(i) = D(i) / B(i); Q(i) = 0;
UESTC

else
disp('A(i) = B(i) = 0');
end
end
end
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x = [zeros(length(A), 1)]; x0 = x; z = x;
u = [zeros(length(A), 1)]; u0 = u;
y = [zeros(length(Wc(:, 1)), 1)]; t = 0;
for j = 1: Tf / T
u1 = u; u = W * x + W0 * r;
for i = 1: n
if (FZ(i) ~= 0)
if (FZ(i) == 1)
u(i) = saturation(u(i), S(i));
end
UESTC
if (FZ(i) == 2)
u(i) = deadzone(u(i), S(i));

end
if (FZ(i) == 3)
[u(i), u0(i)] = backlash(u0(i), u(i), u1(i), S(i));
end
if (FZ(i) == 4)
u(i) = sign1(u(i), S(i));
end
end
end
UESTC
x1 = x;
for i = 1: n
z(i) = E(i) * z(i) + F(i) * u(i) + G(i) * u1(i);

x(i) = H(i) * z(i) + L(i) * u(i) + Q(i) * u1(i);
end
for i = 1: n
if (FZ(i) ~= 0)
if (FZ(i) == 5)
x(i) = saturation(x(i), S(i));
end
if (FZ(i) == 6)
x(i) = deadzone(x(i), S(i));
end
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if (FZ(i)
== 7)
5
[x(i), x0(i)] = backlash(x0(i), x(i), x1(i), S(i));
end
if (FZ(i) == 8)
x(i) = sign1(x(i), S(i));
end
end
end
y = [y, Wc * x]; t = [t, t(j) + T];

end
plot (t, y)
% axis([0 Tf 0 20]);
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UESTC
Simulink
3. Simulink
UESTC
Simulink
Backlash:
Coulomb&Viscous Friction:
Dead Zone:
Dead Zone Dynamic:
Hit Crossing:
Quantizer:
Rate Limiter:
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Simulink
Rate Limiter Dynamic:

Relay:
Saturation:
Saturation Dynamic:
Wrap To Zero:
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Matlab/Simulink
2 Simulink
10.5
1SimulinklibraryFile|New,
Simulink
2
Sine,Scope,Mux Dead Zone
UESTC
Matlab/Simulink
3
Start of
dead zone-0.5, End of dead zone0.5
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Matlab/Simulink
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Matlab/Simulink
4. Matlab/Simulink
3
r(t)
-
G1(s)
G2(s)
G3(s)
c(t)
-N
G1 ( s) 5, G2 ( s)
1
1
, G3 ( s ) ,
0.5s 1
s
x 2 x 2
y 0
x 2
x 2 x 2
Simulink
UESTC
Matlab/Simulink
UESTC
Matlab/Simulink
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Matlab/Simulink
plot(t,c)
xlabel('t');ylabel('c(t)')
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Matlab/Simulink
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Matlab/Simulink
Matlab/ Simulink
1MatlabSimulink
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Matlab/Simulink
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Matlab/Simulink
Simulink
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Matlab/Simulink
0.05-0.05
out1
0.1-0.1
out20.20.2out3
0. 5-0. 5
out4
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Matlab/Simulink
plot(tout1,out1,tout2,out2,tout3,out3,tout4,out4);
gtext('0.05');
gtext('0.1');
gtext('0.2');
gtext('0.5')
UESTC
Matlab/Simulink
UESTC
Matlab/Simulink
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Matlab/Simulink
UESTC
Matlab/Simulink
UESTC
Matlab/Simulink
UESTC
Matlab/Simulink
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Matlab/Simulink
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Matlab/Simulink
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Matlab/Simulink
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Matlab/Simulink
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Matlab/Simulink
:
0
UESTC
UESTC
Lirui@uestc.edu.cn

菴12蔡準盄俶諷秶

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UESTC

z[( k 1)T ] Ez(kT ) Fu(kT ) Gu[( k 1)T ]

x[( k 1)T ] Hz[( k 1)T ] Lu (kT ) Qu[( k 1)T ]

if ((u-s)>=x1) x=u-s;else x=x1;end

if ((u+s)<=x1) x=u+s;else x=x1;end

A = P(:, 1); B = P(:, 2); C = P(:, 3); D = P(:, 4);

L(i) = (C(i) + D(i) / T) / A(i);

G(i) = (D(i) / B(i) - C(i) / A(i)) * (1 + (E(i) - 1) * (1 + B(i) / (A(i) * T)));

G(i) = F(i); H(i) = 1;

The Computer Simulation of Control System

u(i) = deadzone(u(i), S(i));

The Computer Simulation of Control System

z(i) = E(i) * z(i) + F(i) * u(i) + G(i) * u1(i);

The Computer Simulation of Control System

y = [y, Wc * x]; t = [t, t(j) + T];

Rate Limiter Dynamic:

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菴12蔡 準盄俶諷秶

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Original Title

Copyright

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Copyright:

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菴12蔡 準盄俶諷秶

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Copyright:

Available Formats

UESTC

z[( k 1)T ] Ez(kT ) Fu(kT ) Gu[( k 1)T ]

x[( k 1)T ] Hz[( k 1)T ] Lu (kT ) Qu[( k 1)T ]

if ((u-s)>=x1) x=u-s;else x=x1;end

if ((u+s)<=x1) x=u+s;else x=x1;end

A = P(:, 1); B = P(:, 2); C = P(:, 3); D = P(:, 4);

L(i) = (C(i) + D(i) / T) / A(i);

G(i) = (D(i) / B(i) - C(i) / A(i)) * (1 + (E(i) - 1) * (1 + B(i) / (A(i) * T)));

G(i) = F(i); H(i) = 1;

The Computer Simulation of Control System

u(i) = deadzone(u(i), S(i));

The Computer Simulation of Control System

z(i) = E(i) * z(i) + F(i) * u(i) + G(i) * u1(i);

The Computer Simulation of Control System

y = [y, Wc * x]; t = [t, t(j) + T];

Rate Limiter Dynamic:

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菴12蔡準盄俶諷秶

菴12蔡準盄俶諷秶