www.plcworld.

cn

www.plcworld.cn

0.

www.plcworld.cn



www.plcworld.cn

A,X

B,D
TC

F, Z

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

1

www.plcworld.cn

2

www.plcworld.cn

0.2
1

50

60
DDZDDC(Directly Digital Control)

www.plcworld.cn

70
DDZDCS(Distributed Control System)

80
DCS
81

90

DCS

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

0.3
0.3.1




www.plcworld.cn

0.3.2
1

www.plcworld.cn

2

www.plcworld.cn

www.plcworld.cn

0.3.3

www.plcworld.cn

www.plcworld.cn

1.
1.1
1)

(Y)

(z)

(u)

(q)

(r)

(e)
(f)

www.plcworld.cn

2)

www.plcworld.cn

e(

www.plcworld.cn

a.

y( t p ) y( )
y( )

B1
=
C

www.plcworld.cn

A
B

A = B + C = y( t p )

www.plcworld.cn

B1
n=
B2
n<1
n=1
n>1
n=

www.plcworld.cn

(s)
5%

y( )

www.plcworld.cn

b.
IAE

J = e(t ) dt min
0

ISE

J = e (t )dt min
2

:

ITAE

J = t e(t ) dt min
0

www.plcworld.cn

1.2
1.2.1

Y'( s )
G( s ) =
= e s
Y(s)

G( jw ) = e

jw

www.plcworld.cn

pH
pH 2 ( t ) = pH1 ( t + )

=l/v
pH1

l
C

pH2

(pH

www.plcworld.cn

www.plcworld.cn

1.2.2

----

www.plcworld.cn

Qi

dV
= Q i-Q o
Q o:
dt
dh
A
= Qi Qo
A :
dt
1
h =
Q i Q o dt

Qo

a.

www.plcworld.cn

ERROR: limitcheck
OFFENDING COMMAND: string
STACK:
66038
33018
32512
33019

www.plcworld.cn

2.

2.1

2.2

2.3

2.4

www.plcworld.cn

2.1
2.1.1
----
(
)
PC

PT

www.plcworld.cn

TC

PC

TT

PT

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

TC

TT

PC

PT

a.


www.plcworld.cn

b.
TC

TT

PC

PT



www.plcworld.cn

TC

TT

PC
PC

PT

D2(s)
R1(s)

R2(s)
GCT(s)
Z1(s)

Y2(s)
GCP(s)

Z2(s)

D1(s)

GV(s)

GPP(s)

GPT(s)

Y1(s)

GmP(s)

GmT(s)



www.plcworld.cn

D2(s)
R1(s)

R2(s)
GCT(s)
Z1(s)

Y2(s)
GCP(s)

Z2(s)

GV(s)

GPP(s)

GmP(s)

GmT(s)



D1(s)

GPT(s)

Y1(s)

www.plcworld.cn



www.plcworld.cn

c.
D2(s)
(s)
RR11(s)

GCT(s)
Z1(s)

R22(s)
(s)
R

Z2(s)

D1(s)

Y2(s)
GCP(s)

GV(s)

GPP(s)

GPT(s)

Y1(s)

GmP(s)

GmT(s)

R1(s) =count

R2(s)=u1(s)

()

www.plcworld.cn

2.1.2
1

(-)

(+)

(-)

(+)

(+)

(+)

(+)

www.plcworld.cn

R1(s) e1

GCT(s)

Z1(s)

(-)

u1 e2

GCP(s)

Z2(s)

(+)

u2

GV(s)
(-)

GPP(s)
(+)

P(s)

GPT(s)

T(s)

(+)

GmP(s)
(+)
GmT(s)
(+)

GmT ( + )
GC 1 ( )
G PT ( + )
P
T
e1
u1
G PT ( + )
e 2 = z 2 u1

e 2 P
T

www.plcworld.cn

ERROR: limitcheck
OFFENDING COMMAND: string
STACK:
66038
33018
32512
33019

www.plcworld.cn

3.
3.1
1
2

www.plcworld.cn

3.1.1

www.plcworld.cn

1

www.plcworld.cn

GC(s)

GPD(s)

GV(s)

GPC(s)

Gm(s)

www.plcworld.cn

G(s) =

Y(s)
= G PD (s) + G ff (s)G PC (s)
F(s)

www.plcworld.cn

Y(s)
G(s) =
= G PD (s) + G ff (s)G PC (s)
F(s)

F (s ) ? 0,

Y (s )

G P D (s )
G ff (s ) = G P C (s )

www.plcworld.cn

2
a.

b.

7

www.plcworld.cn

a.
0

b.
G P D (s )
K PD
G ff (s ) = = G P C (s )
K PC

c.
8

www.plcworld.cn

Fs
Gff
FT
F

FCp (T 1 - T 2 ) = Fs ghs
T

Cp

hs

T1

T2

www.plcworld.cn

ERROR: limitcheck
OFFENDING COMMAND: string
STACK:
66038
33018
32512
33019

www.plcworld.cn

4.
4.1
1)

www.plcworld.cn

KC

www.plcworld.cn

2)
a.

b.

>100%

www.plcworld.cn

c.

d.

www.plcworld.cn

4.2

www.plcworld.cn

4.2.1
1

2
2

a.


www.plcworld.cn

b.


PID

c.


4 : 1 10 : 1

100% (100%~200%)

www.plcworld.cn

www.plcworld.cn

4.2.2
1

1
LC

2

FC

www.plcworld.cn

3

www.plcworld.cn

4.2.3

www.plcworld.cn

IL
+

IF
+

+
+

+
+

www.plcworld.cn

4
F





www.plcworld.cn

4.2.4
1

www.plcworld.cn

a.

100%
b.




www.plcworld.cn

a.
b.

c.

www.plcworld.cn

1

www.plcworld.cn

5.
5.1

a.
b.

www.plcworld.cn

a.




-----

www.plcworld.cn



www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

b.

www.plcworld.cn

1

2

HS
LS
MS

www.plcworld.cn

LT

LC
TT

TC

LS

TC
LC
LS

www.plcworld.cn

5.2

www.plcworld.cn

5.2.1

a.

b.

B
B

A
A
B

A

B


www.plcworld.cn

L2T

75%
L2C

L1T

A
B
B

L1C

< 75%

www.plcworld.cn

www.plcworld.cn

5.2.2
1)
a.

(HS)
(LS)
(MS)

www.plcworld.cn

b.

www.plcworld.cn

2)
1

P1T

P1C

P2C

P2T

LS

www.plcworld.cn

P 1T

P1C

P2C

LS

P2T

P1C,
P2C,
LS

www.plcworld.cn

www.plcworld.cn

2

30%

LS

www.plcworld.cn

5.2.3

P1C
P2C

P1C

P2C

LS

P3C
P2T

LS

www.plcworld.cn

5.3
a.
b.
1)

a.
b.
c.

www.plcworld.cn

2)

TC

HS

www.plcworld.cn

a.

b.

www.plcworld.cn

www.plcworld.cn

3)

www.plcworld.cn

pY=p1, pZ=p1-pY=0

pY=p2, pZ=p1-p2>0,

www.plcworld.cn

5.4
1)

www.plcworld.cn

www.plcworld.cn

HS

www.plcworld.cn

2
PIN

PO

www.plcworld.cn

6.
6.1

20-60kPa

60-100kPa

www.plcworld.cn




20-60kPa

60-100kPa

www.plcworld.cn

6.2

(60KPa)
100%

100%
A

0
20

60

20

60

100%

100

100%
A

0
20

60
+

100

0
20

60

100

www.plcworld.cn

6.3

R

www.plcworld.cn

1)

R
C MAX

R=

C MIN

CMAX
CMIN
30

CMAX
R=
=
CMIN

www.plcworld.cn

1
(10MPa)

PC

(4MPa)

www.plcworld.cn

Cmax=100

R=30

C max C A max + C B max

200
=
=
=
= 60
C min
C A min
100 / 30

www.plcworld.cn

2)

A
B

www.plcworld.cn

(>60KPa)

B
B

www.plcworld.cn




60KPa

www.plcworld.cn

3)

60KPa

A
B

P>PsetA
P<Pset

www.plcworld.cn

100%
A

0
20

60

100

www.plcworld.cn

6.4
1)

www.plcworld.cn

1A, B

CAmax = 4, CBmax = 100,

60KPa

www.plcworld.cn

www.plcworld.cn

2)

www.plcworld.cn

www.plcworld.cn

CAmax=195, CBmax=450, R50

F
d

F
max = K
dl

100

80

F
Fmax
l
K

60
A

45
40
20

200

400

600

www.plcworld.cn

F
d

F
max = K
dl

F
= Kl + K 1
Fmax

K1

C = Cmax ( Kl + K 1 )

Cmax = CAmax + CBmax = 195 +450 = 645

Cmin = CAmin = 195 / 50 = 3.9

www.plcworld.cn

C = Cmax ( Kl + K 1 )

l=0
l=1

3.9 = 645K1
K1 = 3.9 / 645
645 = 645K+K1
K = 1 - K1 = 641.1 / 645

C = 641.1l + 3.9

A195

A
A
45
45KPa

A
20KPa 45KPa
B
45KPa 100KPa

www.plcworld.cn

ACAmax = 195 BCBmax = 450

RA = RB = 50

F
d

F
max = K F

dl
F
max

F
1 Kl
=
e
Fmax K 1
K1

C max Kl
C=
e
K1

www.plcworld.cn

l = 0
C = Cmin = 195 / 50 = 3.9
K1 = 645 / 3.9 = 165.38
l = 1
C = Cmax = 645
645
e = K1 =
3.9
K

645
K = ln
= 5.11

3.9

C max Kl
645
C=
e = 3.9

K1
3.9

5.11 l

www.plcworld.cn

100
80
60
40
20
0

100 200 300 400 500 600 700


80KPa


A
2080KPa
B
80100KPa

www.plcworld.cn

Q
A

Q
B

www.plcworld.cn

www.plcworld.cn

7.

7.1

C1+VB

C2+VA

www.plcworld.cn

a.

b.

B

c. B

www.plcworld.cn

2)
a.

b.

c. A

d.
B

www.plcworld.cn

www.plcworld.cn

8.2
1

a.

www.plcworld.cn

b.
TC

FC

c.

VB


VB

 B

www.plcworld.cn

TC

VPC

B

A

www.plcworld.cn

2)
a.





www.plcworld.cn

b.
4MPa

PC




www.plcworld.cn

c.

4MPa

VPC

B
PC


(B)

www.plcworld.cn

3)



www.plcworld.cn

7.3
1)


2)

3)
GVB(s)

GPB(s)
Y

GC1(s)
GVPC(s)




GVA(s)

GPA(s)

www.plcworld.cn

(B)

(A)

(TC)

(VPC)

www.plcworld.cn

4)

B

5)

a.

b.

www.plcworld.cn








www.plcworld.cn

GVB(s)
GTC(s)
GVPC(s)

GVA(s)

www.plcworld.cn

www.plcworld.cn

8.

www.plcworld.cn

1
B D F
X Y Z

F = B + D

FZ = BX + DY

www.plcworld.cn

2
L

www.plcworld.cn

8.1
1)
a.

HC

F1

FC

F2

0 uF1
y H G HF1 ( s )
Y = =

GFF2 uF2
yF 0

www.plcworld.cn

b.

1
2
yT GTF1 ( s ) GTL ( s ) u F1

GLF2 ( s ) uF2
yL 0

www.plcworld.cn

c.

yT GTF1 ( s ) GTC ( s ) u F1

=
yC GCT ( s ) GCF2 ( s ) u F2

www.plcworld.cn

2)
a.

u1

Y1(s)
G11(s)
G21(s)
G12(s)

u2

G22(s)

Y2(s)

www.plcworld.cn

b.
u1

Y1(s)
G11(s)
G21(s)
G12(s)

u2

G22(s)

Y2(s)

Y1 ( s ) G11 ( s ) G12 ( s ) U 1 ( s )
Y ( s) =
=

U ( s )
Y
(
s
)
G
(
s
)
G
(
s
)
2 21
22
2

www.plcworld.cn

U1 ( s ) = GC 1 ( s ) [ R1 Y1 ( s )]

U 2 ( s ) = GC 2 ( s ) [ R2 Y2 ( s )]

U1 U2

Y1 ( s ) = P11 ( s ) R1 ( s ) + P12 ( s ) R2 ( s )
Y2 ( s ) = P21 ( s ) R1 ( s ) + P22 ( s ) R2 ( s )

www.plcworld.cn

Y1 ( s ) = P11 ( s ) R1 ( s ) + P12 ( s ) R2 ( s )
Y2 ( s ) = P21 ( s ) R1 ( s ) + P22 ( s ) R2 ( s )

P11 ( s ) =

G11 ( s )GC 1 ( s ) + GC 1 ( s )GC 2 ( s ) [G11 ( s )G22 ( s ) G12 ( s )G21 ( s )]

Q( s )

G12 ( s )GC 2 ( s )
P12 ( s ) =
Q( s )
P22 ( s ) =

G21 ( s )GC 1 ( s )
P21 ( s ) =
Q( s )

G22 ( s )GC 2 ( s ) + GC 1 ( s )GC 2 ( s ) [G11 ( s )G22 ( s ) G12 ( s )G21 ( s )]

Q( s )

Q( s ) = [1 + G11 ( s )GC 1 ( s )] [1 + G22 ( s )GC 2 ( s )] G12 ( s )G21 ( s )GC 1 ( s )GC 2 ( s )

G12(s)G21(s)GC1(s)GC2(s)

www.plcworld.cn

c.
G12(s) = G21(s)= 0

0 U 1 ( s )
Y1 ( s ) G11 ( s )
Y ( s ) = 0
U ( s )
G
(
s
)
2
22
2

0 R1 ( s )
Y1 ( s ) P11 ( s )
Y ( s ) = 0
R ( s )
P
(
s
)
2
22
2
G11 ( s )GC 1 ( s )
G22 ( s )GC 2 ( s )
P11 =
, P22 =
1 + G11 ( s )GC 1 ( s )
1 + G22 ( s )GC 2 ( s )

www.plcworld.cn

G12(s)

G21(s)

0 U 1 ( s )
Y1 ( s ) G11 ( s )
Y ( s ) = G ( s ) G ( s ) U ( s )
22
2 21
2

0 R1 ( s )
Y1 ( s ) P11 ( s )
Y ( s ) = P ( s ) P ( s ) R ( s )
2 21
2
22
P11 =

G11 ( s )GC 1 ( s )
G22 ( s )GC 2 ( s )
, P22 =
1 + G11 ( s )GC 1 ( s )
1 + G22 ( s )GC 2 ( s )

G21 ( s )GC 1 ( s )
P21 =
[1 + G11 ( s )GC 1 ( s )][1 + G22 ( s )GC 2 ( s )]

www.plcworld.cn

Y1 ( s ) G11 ( s ) G12 ( s ) U 1 ( s )
Y ( s ) = G ( s ) G ( s ) U ( s )
2 21
2
22

Y1 ( s ) = P11 ( s ) R1 ( s ) + P12 ( s ) R2 ( s )
Y2 ( s ) = P21 ( s ) R1 ( s ) + P22 ( s ) R2 ( s )
P11

P22

P12

P21
Q(s)

www.plcworld.cn

8.2

Gij = Kijgij
Kij

y1 = k11u1 + k12 u2

y2 = k21u1 + k22 u2

gij

u1

y1 k11
y2 k21

u2

k12
k22

dyi
kij =
du j

www.plcworld.cn

u1

y1 k11

y2 k21

u2

k12

k22

dyi
kij =
du j

k ij > k iq

uj

yi

www.plcworld.cn

a.
11 12 L
= M M
n1 n 2 L
yi

u j

yi

u j

1n

M
nn

yi uj

yi uj

ij =

(yi / u j )u
(yi / u j ) y

www.plcworld.cn

b.

ij = 1,

( y / u ) = ( y / u )
i

j u

yi

ij > 1,

( y / u ) > ( y / u )
i

j u

j-i

ij
ij < 1,

( y / u ) < ( y / u )
i

j u

j-i

ij

uj

www.plcworld.cn

ij = 0,

( y / u )
i

j u

= 0,

( y / u )
i

yi
ij = ,

( y / u )
i

0,

( y / u )
i

ij 1

uj

( y / u )
i

yi

ij < 0,

= k y i / u j

uj

yi

uj

yi

uj

=0

uj

yi

www.plcworld.cn

2)
a.

ij =

(yi / u j )u
(yi / u j ) y

2
A

F = A+ B

FZ = AX + BY

(1)
(2)

www.plcworld.cn

F = A+ B

FZ = AX + BY

(2)

( F / A) B
11 =
( F / A) Z

ij

(1)

( F / A)B = 1

B = ( FZ AX ) / Y

X Y

FZ AX
F
A = A A +

1 F

= 1+ Z
X
Y A

www.plcworld.cn

FZ AX
F
=
A
+
A

Z A

1 F
= 1+ Z
Y A

( F / A)B = 1

F
A

( F / A )B
11 =
( F / A ) Z

11
=
21

yz
12 y x
=

22 x z
x y

YX
=
Y Z

Y Z
=
YX

xz
x y

yz
y x

www.plcworld.cn

b.

www.plcworld.cn

y1 = k11u1 + k12 u2

y2 = k21u1 + k22 u2

k11
K =
k21

Y = KU

k12 y1 / u1 u2
=

k21 y2 / u1 u

(1)

y1 / u2

y2 / u2 u
1
u1

www.plcworld.cn

( y1 / u1 )u
11 =
( y1 / u1 ) y

y1
u1

= k11
u2

y1
u1

( y1 / u1 )u
11 =
( y1 / u1 ) y

k11
=
k k
k11 12 21
k22
=

1
1 k12 k21 / k11 k22

y2

y2 k21u1
k12 k21

=
k11 u1 + k12
= k11
u1
k22
k22

( y1 / u2 )u
12 =
( y1 / u2 ) y
( y2 / u1 )u
21 =
( y2 / u1 ) y
( y2 / u2 )u
22 =
( y2 / u2 ) y

1
1 k11 k22 / k12 k21
1
1 k11 k22 / k12 k21
1
1 k12 k21 / k11 k22

www.plcworld.cn

u1 = h11 y1 + h12 y2

u2 = h21 y1 + h22 y2

h11
H=
h21

u1

h12 y1
=

h22 u2
y
1

U = HY

y2

y2

1

y / u1 ) y
y1
( 1
2
=

1
u2
y2 y ( y1 / u2 ) y2
1
u1
y 2

(2)

( y2 / u1 ) y1

( y2 / u2 ) y1

www.plcworld.cn

k11
K =
k21
h11
H=
h21

k12 y1 / u1 u2
=

k21 y2 / u1 u

2
u1

h12 y1
=

h22 u2
y
1

( y1 / u1 )u
11 =
( y1 / u1 ) y
( y2 / u1 )u
21 =
( y2 / u1 ) y

y2

y2

y1 / u2 u
1

y2 / u2 u
1

1

y / u1 ) y
y1
2
( 1
=

1
u2
y2 y ( y1 / u2 ) y2
1
u1
y2

k
= 11
= k11h11
1
h11
k21
= 1 = k21h12
h12

( y2 / u1 ) y1

( y2 / u2 ) y1

( y1 / u2 )u
12 =
( y1 / u2 ) y
( y2 / u2 )u
22 =
( y2 / u2 ) y
1

k12
= k12 h21
1
h21

k22
= 1 = k22 h22
h22

www.plcworld.cn

(1)

= KH

H = K-1 ,
K
1 T

= K K

(2)

www.plcworld.cn

3
1

K = H-1

KH = I

h11 h12 L
h
21 h22 L
M M

hn1 hn 2 L

h1n k11 k12 L

h2 n k21 k22 L
M M M

hnn kn1 kn 2 L

h k
i =1

ji

ij

=1

h ji =

u j
yi

kij =

k1n h1i ki 1

k2 n
=
M

knn

2i

ki 2
O

yi
u j
u j

y
g 1
y1 y u j

=I

h
k
ni in

u j

u j yn
y2
+
g
+L +
g
y2 y u j
yn y u j
u

=1
u

or
y1
u j

y1
u j

y2
u j
y2
u j

+L +

yn
u j

yn
u j

= 1 j + 2 j + L + nj = 1

www.plcworld.cn

4)

www.plcworld.cn

8.3

1)
2)
3)
4)

www.plcworld.cn

8.3.1

a.

u1 = r1 Y1
u2 = r2 Y2
Y1 = 2u1 + 3u2
Y2 = 4u1 + u2

4
1
Y1 = r1 r2
3
2
2
3
Y2 = r1 + r2
3
2

Y1
1
=
r2
2
Y2
2
=
r1
3

www.plcworld.cn

b.
4

u1 = 4( r1 Y1 )
u2 = 4( r2 Y2 )
Y1 = 2u1 + 3u2
Y2 = 4u1 + u2

152
12
Y1 =
r1
r2
147
147
16
156
Y2 =
r1 +
r2
147
147

Y1
12
=
r2
147
Y2
16
=
r1
147

www.plcworld.cn

u1

y2

u2

y1




u1 = r1 Y1
u2 = r2 Y2
Y1 = 3u1 + 2u2
Y2 = u1 + 4u2
13
1
Y1 = r1 + r2
18
9
1
7
Y2 = r1 + r2
18
9


Y1 1
=
r2 9
Y2 1
=
r1 18

www.plcworld.cn

9.3.2

22

Gc1(s)

Gc2(s)

u1

u2

F11(s)

Y1(s)

G11(s)

(s)
F 12

(s)
G 12

F2

1 (s

F22(s)

21 (
s

G22(s)

Y2(s)

www.plcworld.cn

22

22

www.plcworld.cn

www.plcworld.cn

2)

Y1 ( s ) = G11 ( s ) P1 ( s ) + G12 ( s ) P2 ( s )

Y2 ( s ) = G21 ( s ) P1 ( s ) + G22 ( s ) P2 ( s )
G11 ( s ) G12 ( s ) P1 ( s )
Y ( s) =
P ( s )
G
(
s
)
G
(
s
)
21
22
2
Y ( s) = G( s)P ( s)

www.plcworld.cn

G(s)

G0 ( s ) = G ( s )GC ( s )
E ( s ) = R( s ) Y ( s ),

Y ( s ) = G0 ( s ) E ( s )

Y ( s ) = [ I + G0 ( s )] G0 ( s ) R( s )
1

Gs ( s ) = [ I + G0 ( s )] G0 ( s )
1



Y ( s ) = G s ( s ) R( s )

GS(s)
GS(s)

www.plcworld.cn

[I +G0(s)]
G0 ( s ) = [ I + G0 ( s )] Gs ( s )

G s ( s ) = [ I + G0 ( s ) ] G 0 ( s )
1

G0 ( s ) = Gs ( s ) [ I Gs ( s )]

GS(s)

G0(s)

G0 ( s ) = G ( s )GC ( s )

GC(s)
G0(s)

G(s)

www.plcworld.cn

3)

www.plcworld.cn

a)

G11 G12
G
21 G22
L
L

Gn 1 Gn 2

L
L
L
L

G1n F11
G2 n F21
L L

Gnn Fn1

F12 L
F22 L
L

Fn 2 L

F1n
F2 n
=
L

Fnn

www.plcworld.cn

1
0
G11 (s) G12 (s) F11 (s ) F12 (s) G11 (s )
G ( s ) G ( s ) F ( s ) F (s ) = 0

G
(
s
)
21
22
21
22
22

0
F11 (s ) F12 (s ) G11 (s ) G12 (s ) G11 (s )
F ( s ) F (s ) = G (s ) G (s ) 0

G
(
s
)
21
22
21
22

22

G11 (s)G 22 (s )
-G12 (s )G 22 (s )

G (s)G (s ) G (s )G (s ) G (s )G (s ) G (s )G (s )
11
22
12
21
11
22
12
21

-G11 (s )G 21 (s )
G11 (s)G 22 (s)

G
(
s
)
G
(
s
)

G
(
s
)
G
(
s
)
G
(
s
)
G
(
s
)

G
(
s
)
G
(
s
)
11
22
12
21
11
22
12
21

www.plcworld.cn

2
G11 (s) G12 (s ) F11 (s) F12 (s)
G (s ) G (s ) F (s ) F (s )
21
22
21
22

G11 (s)G 22 (s) G12 (s )G 21 (s)

G
(
s
)
G
(
s
)

G
(
s
)
G
(
s
)
11
22
12
21

F11 (s ) F12 (s )
F (s ) F (s ) =
22
21

G11 (s ) G12 (s ) G11 (s )G 22 (s ) G12 (s )G 21 (s )

G
(
s
)
G
(
s
)
G
(
s
)
G
(
s
)

G
(
s
)
G
(
s
)
21
22

11
22
12
21

G 22 (s ) G12 (s )
=

G
(
s
)
G
(
s
)
11
21

www.plcworld.cn

www.plcworld.cn

b.

1
F
F

F11
F=
1

1
F22
1

1
22

1
F
21

1
F22

1
F
21

F12
1

F11
1

1 F11
F22 1

F12
1

www.plcworld.cn

1
F=
F21

G11 ( s ) G12 ( s )

F12

G21 ( s ) G22 ( s )

F21

F12
1

G11 ( s ) G12 ( s )F21 ( s ) G11 ( s )F12 ( s ) G12 ( s )

G21 ( s ) G22 ( s )F21 ( s ) G21 ( s )F12 ( s ) G22 ( s )

www.plcworld.cn

ERROR: limitcheck
OFFENDING COMMAND: string
STACK:
66038
33018
32512
33019

www.plcworld.cn

0
10.1
10.1.1

www.plcworld.cn

10.1.2
1)
a.

b.

www.plcworld.cn

c.
700

d.

www.plcworld.cn

2)
:

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

3)

a.

www.plcworld.cn

b.

www.plcworld.cn

www.plcworld.cn

c.

www.plcworld.cn

www.plcworld.cn

10.1.3
1

www.plcworld.cn

:

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

)
a.

www.plcworld.cn

www.plcworld.cn




www.plcworld.cn

b.

www.plcworld.cn

10.1.
1

www.plcworld.cn

2)

PID

www.plcworld.cn

10.2
10.2.1

G1:
T1i:
T1O:

G2:
T2i:
T2O:
c2:

www.plcworld.cn

a.

q = G1c1 (T1O T1i ) = G2 c2 (T2 i T2O )

q
G

kcal/h
kg/h

c
T

kcal/(kg

www.plcworld.cn

b.

q = G1c1 (T1O T1i ) = G2 2

kcal / kg

2
c.

q = G11 = G2 2

1
2

kcal / kg
kcal / kg

www.plcworld.cn

q = KFm Tm
q:
K:
F:
T:

kcal/h
kcal/( m2 h)
m2

www.plcworld.cn

www.plcworld.cn

F
(%)
Fmax

T1O T1i
T2 i T1 i

G1c1
=1
KF

2
3

G2 c 2
KF

T1O

G2

L
(%)
Lmax

www.plcworld.cn

10.2.2

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

a.

b.

c.

www.plcworld.cn

a.

b.
FC

TC

F1

c.

(F1-T)

www.plcworld.cn

www.plcworld.cn








www.plcworld.cn

10.2.3
1

www.plcworld.cn

2
1

T-L

TC

LC

www.plcworld.cn

T-L

www.plcworld.cn

www.plcworld.cn

10.3
10.3.1
1)

2)

a.

www.plcworld.cn

b.

www.plcworld.cn

3)

4)
a.


LC

www.plcworld.cn

b.

www.plcworld.cn

c

d

www.plcworld.cn

10.3.2
1)
a.

H ( s ) K 0 s
=
e
W ( s)
s
K0
T
T= 15 ~ 100s

www.plcworld.cn

b.

H = H1 + H2
W

Kf
K2
H ( s) H1 ( s) H 2 ( s)
=
+
=
+
D( s )
D( s )
D( s )
s T2 s + 1

t
H

H2

Kf
t
H
H1

100 ~ 300T/h
10%
30 ~ 40mm

www.plcworld.cn

2)
a.

)






LS

LC

www.plcworld.cn

b.





C1

C2
C2

I = C1IC C2IF I0
C1 C2
I0
1
1

www.plcworld.cn

C2



W
KV =
I

W
I

IF
D
I F =
( zmax zmin )
Dmax

D
Dmax
zmax zmin


I = C2

IF

W = KV I = KV C 2 I F = KV C 2

D
( zmax zmin )
Dmax

www.plcworld.cn

=
W= D

>1

D
W = K V C 2
( zmax zmin )
Dmax

C2 =

Dmax
KV ( zmax zmin )

www.plcworld.cn

C2

C2

+
I0

I0
C2IF
C2

I0

www.plcworld.cn

LC
IC

IF I0

I = C1IC C2IF I0

www.plcworld.cn

PI

www.plcworld.cn

c.

www.plcworld.cn

C2
=
W= D

> 1

Wmax
W
IW =
( zmax zmin ) W = IW
Wmax
( zmas zmin )
Dmax
D
I D =
( zmax zmin ) D = I D
( zmax zmin )
Dmax

Wmax
Dmax
IW
= I D
( zmas zmin )
( zmas zmin )
IW
Dmax
=
I D
Wmax

IW = C 2 I D
IW
Dmax
C2 =
=
I D
Wmax

www.plcworld.cn

I = C1 I C C 2 I D I 0

C2

C2

I0
I0
I0
I0

I = C1 I C + C 2 I D I 0

C1IL

www.plcworld.cn

IF
LC
IC

GPD(s)

C2

IF I0

I = C1IC + C2IF - I0
I
FC

Gmf(s)

GC1(s)

IC

C1

Y
GC2(s)

I0

GP2(s)
Gm2(s)

Gm1(s)

GPC(s)

www.plcworld.cn

10.3.3
1)

2)

www.plcworld.cn

www.plcworld.cn

3)

a.

www.plcworld.cn

PC

www.plcworld.cn

www.plcworld.cn

b.

www.plcworld.cn

www.plcworld.cn

PC
F1C
F2C

IP = I1

IP =I2

www.plcworld.cn


P

IP
P
PC

www.plcworld.cn

ERROR: limitcheck
OFFENDING COMMAND: string
STACK:
66038
33018
32512
33019

www.plcworld.cn

11
11.1

www.plcworld.cn

11.1.1

www.plcworld.cn

t-y

x
t-x

www.plcworld.cn

t-x-y

y1

x1

www.plcworld.cn

11.1.2

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

2


www.plcworld.cn

a.

www.plcworld.cn

b.


www.plcworld.cn



www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

,
;
,

www.plcworld.cn

c.


www.plcworld.cn

www.plcworld.cn



www.plcworld.cn

www.plcworld.cn

11.1.2

www.plcworld.cn

11.1.3

F = D+B

FxF = Dx D + Bx B
F D B
xF xD xB

D xF x B
=
F xD xB

or

B x D xF
=
F xD xB

www.plcworld.cn

D xF xB
=
F xD xB

or

B x D xF
=
F xD xB

F
xF

xD

xB

www.plcworld.cn

xF =0.5
xD=0.95

xB=0.05

D
0.5 0.05
=
= 0.5
F
0.95 0.05
xF=0.4
xD

D/F=0.5

F
x D = xF = 2 0.4 = 0.8
D
D/F

B/F

www.plcworld.cn

QH + FH F = QC + DH D + BH B
S

x D (1 x B )
S=
x B (1 x D )
S

xD

xB

www.plcworld.cn

S
V
S

V
S = f( )
F

V
= ln S
F

www.plcworld.cn

V
= ln S
F

x D (1 x B )
S=
x B (1 x D )

x D (1 x B )
V
= ln

F
x B (1 x D )
V

www.plcworld.cn

11.2

www.plcworld.cn





www.plcworld.cn

11.3

www.plcworld.cn

11.4

11.4.1

www.plcworld.cn

11.4.2

1


www.plcworld.cn

www.plcworld.cn




www.plcworld.cn

www.plcworld.cn

a.

b.

c.

www.plcworld.cn

d.


T

www.plcworld.cn

a.

b.

TD

TB

www.plcworld.cn

11.5
QC
P
DG
LD

TR

11.5.1

D, xB

TS
V
QH

LB

B, xB

www.plcworld.cn

11.5.2

V
V/F

F
D/F

www.plcworld.cn

L
D

F xF x B
=
D x D xB

QH

or

QH

B x D xF
=
F xD xB

www.plcworld.cn

L/D
D

www.plcworld.cn

LC

L
D

FC
FC

V
LC
FC

QH
B

www.plcworld.cn

11.5.3

a.
b.

www.plcworld.cn

a.
D

LC

D
TT

FC

TC

LC

QH

B
B

www.plcworld.cn

D
)

www.plcworld.cn

b.
L

D
B

www.plcworld.cn

L D

0.8

www.plcworld.cn

B

www.plcworld.cn

a.
B

B
L
D

www.plcworld.cn

B / V<0.2

www.plcworld.cn

b.

Vb


a
LC

L
D
FC

L
D

TC

QH

LC

B
B

www.plcworld.cn

F < 2.0

www.plcworld.cn

D
L

QH

B
-0

www.plcworld.cn

11.5.4

www.plcworld.cn

1

www.plcworld.cn

PC

LR

(a)

a
b
c

www.plcworld.cn

<2%

PT

PC

2
LR




www.plcworld.cn

www.plcworld.cn

2
1

www.plcworld.cn




www.plcworld.cn

11.5.5
1



TC


P dC





PdC

www.plcworld.cn

www.plcworld.cn

12
12.1
12.1.1
1

www.plcworld.cn

2
a.

www.plcworld.cn

b.

c.

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

5

www.plcworld.cn

12.1.2
1

1 dnA
rA =
V dt
dnA / V
dC A
rA =
=
dt
dt

v
rA
nA
CA
V

a.
b.

mol/m3 h
mol
mol/m3

A
A
A
m3

www.plcworld.cn

2
(1)
(
A+B
CA

)
C

CB

r = kC A C B
K

r
A+B C

r = k1C A C B k2CC

www.plcworld.cn

RT

k = k0e
k
R
E

l s
1 987kcal kmalK
(1000050000kcal kmol )

T
k0

K
k

www.plcworld.cn

E
ln k = + ln K0
RT

k1 k2
k1

k2

k1

k2

www.plcworld.cn

4

www.plcworld.cn

3
C

V
C =
F
V
F

www.plcworld.cn

12.2
4
1




2

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

12.3
12.3.1

www.plcworld.cn

12.3.2
1



www.plcworld.cn

a.

www.plcworld.cn

b.

www.plcworld.cn

a.

b.

FC

TC

TC

PC

PC

www.plcworld.cn

c.

d.

www.plcworld.cn

e.

www.plcworld.cn

f.

www.plcworld.cn

13

www.plcworld.cn

PID

www.plcworld.cn

13.1
13.1.1

www.plcworld.cn

1)

www.plcworld.cn



www.plcworld.cn

www.plcworld.cn

2)

www.plcworld.cn

3

www.plcworld.cn

13.1.2
1

www.plcworld.cn

a.
b.
c.

a.
b.

www.plcworld.cn

www.plcworld.cn

13.1

G21,
2i

G1,
1i

G1,
1o

G2,
2o

G1, G2
1i, 2i
1o, 2o

www.plcworld.cn

Q = G1C1 (1o 1i ) = G2C 2 ( 2 i 2 o )

Q = KF ( 2 i + 2 o 1i 1o ) / 2

Q
K
F

C1
C2

1
2

2 o = [G2C 2 2 i G1C1 (1o 1i )] / G2C 2

[(G1C1 + G2C 2 ) KF + 2G1C1G2C 2 ]1o =
[(G1C1 G2C 2 ) KF + 2G1C1G2C 2 ]1i + 2G2C 2 KF 2 i

www.plcworld.cn

[(G1C1 + G2C 2 ) KF + 2G1C1G2C 2 ]1o =

[(G1C1 G2C 2 ) KF + 2G1C1G2C 2 ]1i + 2G2C 2 KF 2 i

1i= 1i+
1i= 1i+

1i

1i 1o

1i

1o= 1o+

1o

[(G1C1 + G2C 2 ) KF + 2G1C1G2C 2 ]1o =

[(G1C1 G2C 2 ) KF + 2G1C1G2C 2 ]1i
1i

1o

www.plcworld.cn

13.2

dV1
dh1
Qi Q12 =
= A1
dt
dt
dV2
dh2
Q12 Qo =
= A2
dt
dt

h1 h2
Q12 =
R1
h2
Qo =
R2

www.plcworld.cn

Q12

Qo
h1 h2
dh1
Qi
= A1
R1
dt
h1 h2 h2
dh2
= A2

R1
R2
dt

Qi

R2

h2 h2 h20

2 R2
=
R2 R2 R2o

h1

h1 h2
d h1
Qi
= A1
R10
dt
h1 h2 h2 h20
d h2

+ 2 R2 = A2
R10
R20 R20
dt

h2
h2/R2

www.plcworld.cn

d h1
1
1
1
=
h1 +
h2 +
Qi
dt
A1 R10
A1 R10
A1
1
d h2
1
1
h1
=
+

dt
A2 R10
A2 R10 A2 R20

h20
R2
h2 +
2

A2 R20

H&= AH + BU
H = h1
1

AR
1 10

A=
1
A2 R10

h2 T

U = Qi

1
1
+

A2 R10 A2 R20

1
A1 R10

R2 T
1
A
1
B=

h20

A2 R220
0

www.plcworld.cn

1

H ( s ) = ( sI A) BU ( s )
h20

R10 R20 A2 s + R10 + R20

R
20

h20

R20
( R10 A1 s + 1)
R20

Qi ( s )
H1 ( s)
H ( s ) =
R ( s )
2
2 A1 A2 R10 R20 s + ( R10 A1 + R20 A2 + R20 A1 ) s + 1 2

H2 Qi
R20
H 2 ( s)
=
Qi ( s ) A1 A2 R10 R20 s 2 + ( R10 A1 + R20 A2 + R20 A1 ) s + 1

www.plcworld.cn

www.plcworld.cn

a.
b.
c.
d.

www.plcworld.cn

an y (t ) + L + a1 y&(t ) + y (t ) =
(n)

bm u

(m)

(t ) + L + b1 u&(t ) + b0 u(t )

Y ( s ) b0 + b1 s + L + bm s s
=
e
n
U ( s ) 1 + a1 s + L + an s
m

www.plcworld.cn

an y (k n) + an 1 y (k n 1) + L + a1 y (k 1) + y (k ) =
bm u(k m d ) + L + b1 u(k 1 d ) + b0 u(k d )


1

b0 + b1q + L + bm q
d
Y (k ) =
q u( k )
1
n
1 + a1q + L + an q
d
q-1

z-1

www.plcworld.cn

a.
K
b.
c.

www.plcworld.cn

www.plcworld.cn

13.1.3

J = ei2 min
i =1

www.plcworld.cn

y( k ) + a1 y( k 1) + L + an y( k n) =
b1 u( k 1 d ) + b2 u( k 2 d ) + L + bn u( k n d )
y(k)

y(k)

y( k ) + a1 y( k 1) + L + an y( k n) =
b1u( k 1 d ) + b2 u( k 2 d ) + L + bn u( k n d ) + e( k )
y(k)
e(k)
n

www.plcworld.cn

a i bi
J = e 2 (k )

y = z + e
bn
y(1)
e(1)
a
y(2)
e(2)
n

y = M = M e = M

b1
M
M
a1
y( N )
e( N )

www.plcworld.cn

J = e e = [ y z ] [ y z ]
T

J
= 2 z T ( y z ) = 0

z T z = z T y

= ( z T z )1 z T y

z y

www.plcworld.cn

JW = e We = ( y z ) W ( y z )
T

= ( z TWz )1 z TWy

www.plcworld.cn

3
N+1

N+1
y(N+1)

z(N+1)

y N +1

y( n)
=

y( N + 1)

= z

N +1

T
N +1 N +1

zN
z=

z ( N + 1)
1

z TN +1 y N +1

www.plcworld.cn

N +1

T
= z N

= z

T
N +1 N +1

z TN +1 y N +1 =
1

zN
T

z ( N + 1)
z
N

z ( N + 1)

y( N )
z ( N + 1)

y
N
+
(
1)

= z z N + z ( N + 1) z ( N + 1) z TN y( N ) + z ( N + 1) y( N + 1)
T
N

n
n
A + BCT
T 1

B C
(I + CTA-1B)
1

n
m
1

( A + BC ) = A A B( I + C A B ) C A
T

www.plcworld.cn

A = PN1 = z TN z N ,

B = C = z N +1

PN1+1 = z TN +1 z N +1 = z TN z N + z ( N + 1) z ( N + 1)T
= PN1 + z ( N + 1) z ( N + 1)T
1

PN +1 = PN PN z ( N + 1) I + z( N + 1) PN z( N + 1) z ( N + 1)T PN
T

N +1

1
T

= N + PN z ( N + 1) I + Z ( N + 1) PN z ( N + 1)

y( N + 1) z ( N + 1)T N

www.plcworld.cn

13.2

www.plcworld.cn

www.plcworld.cn





www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

yr ( k + i ) = y( k ) + (1 ) yd
i

Ts
T
yd

=e

Ts
T

www.plcworld.cn

3
MAC


N

ym ( k + j ) = hi u( k + j i )

j = 1, 2,L , p

i =1

N
P
Ym ( k ) = H1U1 ( k ) + H 2U 2 ( k )

U
U1
U2

K
K

N-1
M

H
H1 K

H2 K

www.plcworld.cn

y(k)

ym(k)

e(k)

y p ( k + j ) = ym ( k + j ) + j [( y( k ) ym ( k )]

y(k)
ym(k)

ym ( k ) = hi u( k i )
i =0

ym ( k + j ) = hi u( k + j i )

ym(k+j)

i =1

P
Y p ( k ) = Ym ( k ) + e( k )
e ( k ) = y ( k ) ym ( k )

www.plcworld.cn


2

min J = YP ( k ) Yr ( k ) Q + U 2 ( k )

2
R

= [YP ( k ) Yr ( k )]T Q[YP ( k ) Yr ( k )] + U 2T ( k ) RU 2 ( k )

Ym(k)

Yp(k)

J = [h1U1 ( k ) + H 2U 2 ( k ) + e( k ) Yr ( k )]T Q[h1U1 ( k )

+ H 2U 2 ( k ) + e( k ) Yr ( k )] + U 2T ( k ) RU 2 ( k )
U 2 ( k ) = [ H 2T QH 2 + R]1 H 2T Q[Yr ( k ) H1U1 ( k ) e( k )]

u( k ) = DT [Yr ( k ) H1U1 ( k ) e( k )]

P
M

DT = [1 0L 0]1 M [ H 2T QH 2 + R]1 H 2T Q

Q R
H2

www.plcworld.cn

 MAC

N
N

N
N = 20 ~ 60
P
P
P
M
M
M

10

www.plcworld.cn

Q
Q
qj

qj = 1

qj = 0
R

r
r
r

www.plcworld.cn

DMC

DMC


hi = ai ai 1
N

i =1

i =1

ym ( k + j ) = hi u( k + j 1) = (ai ai 1 )u( k + j 1)

u( k + j i ) = u( k + j i ) u( k + j i 1)
N

ym ( k + j ) = ai u( k + j 1) + a N u( k + j N )
i =1

j = 1, 2, L , p

www.plcworld.cn

DMC

Ym ( k ) = AU m ( k ) + Y0 ( k )
A
Y0(k)


y(k)

Y p ( k ) = AU ( k ) + y p0 ( k )

Y p ( k ) = [ y p ( k + 1)
Y p0 ( k ) = [ y p0 ( k + 1)

y p ( k + 2)L y p ( k + p)]T
y p0 ( k + 2)L y p0 ( k + p )]T

y p0 ( k + j ) = y0 ( k + j ) + [ y( k ) ym ( k )]

ym(k

www.plcworld.cn

yr(k+j)

min J = (Yr ( k ) YP ( k ))T Q(Yr ( k ) YP ( k )) + U MT ( k ) RU M ( k )

J = (Yr ( k ) AU M ( k ) YP0 ( k ))T Q(Yr ( k )

AU M ( k ) YP0 ( k )) + U MT ( k ) RU M ( k )

U M ( k ) = ( AT QA + R )1 AT Q[Yr ( k ) YP0 ( k )]

www.plcworld.cn

u(k)

u( k ) = u( k 1) + u( k )
u( k ) = [1 0 L 0] U M ( k ) = DT [Yr ( k ) YP0 ( k )]
DT = [1 0 L 0] ( AT QA + R )1 AT Q

DT
u(k)


PID
PID

u(k)

www.plcworld.cn


MAC

Model Algorithmic Control

DMC

Dynamic Matrix Control

GPC Generalized Predictive Control


QDMC

Quadratic DMC
QP

www.plcworld.cn

SMAC DMC

DMCplus




Windows

www.plcworld.cn

PID

www.plcworld.cn

FUUC

www.plcworld.cn

CO2
O2

(CV1)
(CV2)
(CV3)
(CV4)

MV1~MV8

www.plcworld.cn

CV1

MV1

0.057e 27 s
30.9 s 2 + 7.8 s + 1

MV2

0.102(1 + s )e 12 s
59.2 s 2 + 7.7 s + 1

MV3

MV4

0.1668(1 + 2 s )e 35 s
25 s 2 + 7 s + 1

MV5

MV6

MV7

MV8

0.07e 2 s
15.8 s 2 + 7.9 s + 1

CV2

CV3

CV4

0.349e 22 s
13.7 s 2 + 7.4 s + 1

07286e 11 s
15 s 2 + 5 s + 1

0.07(1 + 2 s )e 13 s
59.2 s 2 + 8.3 s + 1

0.057e 27 s
0.1025(1 + 15 s )e 20 s
0.048e 24 s
30.9 s 2 + 7.8 s + 1
100 s 2 + 9 s + 1
30.9 s 2 + 7.8 s + 1
0.3714(1 + 7 s )e 24 s
0.1887e 23 s
0.2764(1 + 15 s )e 20 s
30.9 s 2 + 4.4 s + 1
69.4 s 2 + 8.3 s + 1
156.3 s 2 + 11.3 s + 1
0.0851(1 + 3 s )e 34 s
0.0356e 26 s
0
20.7 s 2 + 4.5 s + 1
25 s 2 + 6 s + 1
1.0714e 4 s
1 + 4s
0.1114(1 + 6 s )e 27 s
20.7 s 2 + 2.9 s + 1
0.3e 6 s
1 + 7s
0.2273e s
18.9 s 2 + 9.1s + 1

0.18(1 10 s )e 4 s
59.17 s 2 + 8 s + 1

0
0.0829(1 + 3 s )
11.1s 2 + 4 s + 1

0.3571e 3 s
14.8 s 2 + 8.8 s + 1

0.714e 2 s
1 + 9s
0.0152(1 + 3 s )e 13 s
11.1s 2 + 3.7 s + 1

0
0.06167e 2 s
15.8 s 2 + 7.8 s + 1

www.plcworld.cn

min j ( k ) = W ( k ) y PM ( k ) Q + uM ( k )

uM ( k )

umin uM ( k ) umax
C uM ( k ) b

u
y
W(k) y
uM(k) u k
k
y PM ( k )
P
Q R
C

M
uM(k)

2
R

www.plcworld.cn

Ts = 5min
N=40
P=10
M=4
CV
0.45
0.4~0.5
MV
0.1~0.9
5min 100min 200min
300min
CV1~CV4
0.55
0.5~0.6
0.025

www.plcworld.cn

www.plcworld.cn

13.3




www.plcworld.cn

11.3.1

Y(s)
(s)

U(s)
m(s)

Y ( s ) = C ( s )m ( s ) + B ( s )U ( s )
( s ) = P ( s )m ( s ) + A( s )U ( s )

www.plcworld.cn

P ( s)

U(s) (s)

P ( s) = P ( s)

E(s)

P ( s )= P ( s )
( s ) = ( s ) P ( s )m ( s )
= A( s )U ( s )

www.plcworld.cn

Y(s)

E ( s ) = B ( s ) A1 ( s )
U(s) Y(s)

( s ) = E ( s ) A( s )U ( s ) = B ( s )U ( s )

www.plcworld.cn

G1(s)

Y ( s ) = C ( s )G1 ( s )[Yd ( s ) E ( s )[ ( s ) P ( s )m ( s )]] + B ( s )U ( s )

B( s)U ( s)

A( s )U ( s )

www.plcworld.cn

Y ( s ) = C ( s )G1 ( s )[Yd ( s ) E ( s )[ ( s ) P ( s )m ( s )]] + B ( s )U ( s )

B( s)U ( s)

G1 ( s ) = C ( s )

U(s)
Yd(s)

Y(s)=0
Y(s)=Yd(s)

www.plcworld.cn

F(s)
G1 ( s ) = C 1 ( s) F ( s )

Y ( s ) = F ( s )Yd ( s ) + [1 F ( s )]B ( s )U ( s )
F(s)

www.plcworld.cn

13.3.2

U(s)
B( s )

Yd ( s )

G1 ( s )

U(s)

C ( s)
Y ( s)

C ( s)

www.plcworld.cn

U(s)
B( s )

Yd ( s )

G1 ( s )

U(s)

C ( s)
Y ( s)

C ( s)

B( s )[1 G1 ( s )C ( s )]
Y ( s) =
Yd ( s ) +
U ( s)

1 + G1 ( s )[C ( s ) C ( s )]
1 + G1 ( s )[C ( s ) C ( s )]
G1 ( s )C ( s )

F ( s)
G1 ( s ) =
C ( s )

C ( s ) = C ( s )

Y ( s ) = F ( s )Yd ( s ) + [1 F ( s )]B ( s )U ( s )

www.plcworld.cn

1]

1
yd (s)

U(s) 0

B( s )[1 G1 ( s )C ( s )]
Y ( s) =
Yd ( s ) +
U ( s)

1 + G1 ( s )[C ( s ) C ( s )]
1 + G1 ( s )[C ( s ) C ( s )]
G1 ( s )C ( s )

Y ( s ) = Y ( s ) Y ( s )
1 G1 ( s )C ( s )
=
U ( s ) B( s )

1 + G ( s )[C ( s ) C ( s )]
1

1 F
1 + F ( s )[C ( s ) C ( s )] / C ( s )

= 1 F ( s)

C ( s ) = C ( s )

G 1 ( s ) = F ( s )/ C ( s )

F ( s ) =1

Y ( s ) = 0

Y(s)

www.plcworld.cn

2]

yd(s)

U(s)

y ( s ) = Y ( s ) Y ( s )
= C1 ( s )C ( s )[ yd ( s ) + yd ( s )] C1 ( s )C ( s ) yd ( s )
= C1 ( s )C ( s )yd ( s )
C1 ( s ) =

1
C (s)

y( s ) = yd ( s )

www.plcworld.cn

C ( s ) C ( s )
F ( s)C ( s ) / C ( s )
1 F ( s)
Y ( s) =
Yd ( s) +
B ( s )U ( s )

1 F ( s)[C ( s ) C ( s )] / C ( s )
1 F ( s )[C ( s ) C ( s )] / C ( s )

y (t )

F ( s )C ( s ) / C ( s )
Yd ( s ) = 0
= lim sY ( s ) = lim s
s 0
s 0 1 F ( s )[C
( s ) C ( s )] / C ( s)

www.plcworld.cn

13.3.3
16

Y ( s ) = [Y1 ( s ), Y2 ( s )]T

Y ( s ) = C ( s )U ( s ) + B ( s ) D ( s )
( s) = [1 ( s ), 2 ( s ), 3 ( s ), 4 ( s ), 5 ( s )]T
( s) = P ( s )U ( s ) + A( s ) D( s )
T
U ( s ) = [U1 ( s ), U 2 ( s )]

D( s ) = [d1 ( s ), d 2 ( s ), d 3 ( s ), d 4 ( s ), d 5 ( s )]T

y1 y2
5
1~
u1 u2
d1~d5

1 3 8 14
u1
5

16
u2

www.plcworld.cn

B P A

0.173
70s + 1
C (s) =
0.015
18s + 1
7.99
9s + 1

11.29
12s + 1

18.28
A( s ) =
5s + 1
42.02

50s + 1
50.47

25s + 1
7.47
8s + 1
P( s) =
2.70
4s + 1

0.0305
0.188 0.163
72s + 1 72 s + 1
75s + 1
B( s) =

0.0768
0.0174 0.0259
15s + 1 13s + 1
7 s + 1
9.78
5.28
3.59
6.09
9s + 1
5s + 1
8s + 1
5s + 1

15.91 4.23
3.63
4.75
12 s + 1 5s + 1
8s + 1
5s + 1

16.23 0.47
3.96
4.60
10 s + 1 5s + 1
3s + 1 1.5s + 1
35.92
4.45
1.10
0.46

75s + 1 65s + 1 70 s + 1 75s + 1

25.26
3.15
0.68
0.32

75s + 1 70s + 1 78s + 1 80s + 1

9.80
8.20
36.0
30.0
15s + 1 30s + 1 65s + 1 67 s + 1

3.79
2.30
6.82
3.46
5s + 1 18s + 1 70s + 1 70s + 1

0.0199
70s + 1
0.0045
4s + 1

0.0043
80 s + 1
0.00029
3s + 1

0.002
85s + 1

0.0099
3s + 1

www.plcworld.cn

4
14

Y ( s ) = y1 ( s )

B( s ) = [b11 ( s ) b12 ( s ) b13 ( s ) b14 ( s ) b15 ( s )]

A( s ) = [ a41 ( s ) a42 ( s ) a43 ( s ) a44 ( s ) a45 ( s )]

U ( s ) = u1 ( s )
C ( s ) = c11 ( s )
P( s ) = p4 ( s )

www.plcworld.cn

A4i(s) B1i(s)




a( s ) =

14.39
66 s + 1

b( s ) =

0.0649
76 s + 1

b( s )
66 s + 1
E( s) =
= 0.0045
a( s )
76 s + 1
1
F (s) =
10s + 1


G1 ( s ) =

F (s)
70 s + 1
= 5.78
c11 ( s )
10s + 1

www.plcworld.cn

P11 ( s )

www.plcworld.cn

10%

1
2 14
3

www.plcworld.cn

13.4
13.4.1

www.plcworld.cn

1






www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

A
a.
y( t ) = f ( u( t ), )

b.

= g( p)
c.
d.
p = g 1 ( )

e.

u(t),y(t)

www.plcworld.cn

y( t ) = hT ( t ) + u( t )

y(t)

u(t)

y( t ) = hT ( t ) 0 + u( t ) + hT ( t ) + u( t )
(t)
(t)
(t)
(t)

(t)

www.plcworld.cn

( t ) = ( t 1) + ( t ) R 1 ( t )h( t )[ y( t ) hT ( t ) ( t 1)]
R( t ) = R( t 1) + ( t )[h( t )hT ( t ) R( t 1)]
(t)

( t ) = ( t ) 0
( t ) T ( t )]
(
t
)
=
E
[

(t)
(t)

www.plcworld.cn

Kalman

www.plcworld.cn

www.plcworld.cn

A
a.


iF A then B
A
B

www.plcworld.cn

www.plcworld.cn

b.

www.plcworld.cn

c.



www.plcworld.cn

d.

www.plcworld.cn

B

x

x
M

q1

q2

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn




www.plcworld.cn

www.plcworld.cn

T4 high
(1)
T3 high
(2)

F2 too high
(3)
P1 too high
(4)
hot
water
press too high
(5)

T2 too high
(6)
T1 too high
(7)
hot
temp
too
water
high
(8)

F7 low
(13)

T7 too high
(9)

F7 too
low
(21)

T6 too high
(10)
T5 too high
(11)
cooling
temp
too
water
high
(12)

I9 high
(19)
TC
P6 low
high
FCV
P6 too low FCV
(14) failure output
(22) closed
(20)
(18)
(26)

P5 low
(15)
cooling
press
water
low
(16)

Pump
less
power
(17)

P5 too
low
(23)

Pump
stoped

cooling
(25)
water
press
too low
(24)

F2
zero(+)
(27)

F7 zero(-)
(37)
F2 high
(31)

I10 on
(28)
shutdown
system
failure
(29)

T2 high
(34)

P1 high T1 high I9 zero(+) FCV

(32)
(35)
(38) failure
hot
(40)
(30)
TC
water
press high
failure
hot
(33)
(39)
water
temp
high
(36)

PV
failure

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

40

17
8
8
17
20

www.plcworld.cn

time
0
60
64
68
72
76
80
84
88
92

1
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00

2
0.00
0.03
0.40
0.85
0.78
0.83
0.90
0.84
0.96
0.97

3
0.00
0.01
0.18
0.05
0.06
0.05
0.03
0.04
0.02
0.01

4
0.00
0.00
0.07
0.04
0.05
0.03
0.02
0.03
0.02
0.02

Cut set
5
6
0.01
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00

7
0.04
0.01
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00

8
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00

~
~
~
~
~
~
~
~
~
~
~

16
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00

17
0.00
0.00
0.01
0.00
0.07
0.07
0.04
0.06
0.04
0.03

www.plcworld.cn

13.4.2

a.

b.

www.plcworld.cn

a.

active fault tolerant control

FDD

www.plcworld.cn



FDD

FDD

www.plcworld.cn

FDD

www.plcworld.cn

www.plcworld.cn

b.

www.plcworld.cn

FDD

www.plcworld.cn

ki
G ( s) =

Y ( s)

R( s)

GC 1 ( s ) GC 2 ( s ) GP 2 ( s ) GP 1 ( s )

1 + k2 GC 2 ( s ) GP 2 ( s ) + k1 GC 2 ( s ) GC 1 ( s ) GP 2 ( s ) GP 1 ( s )

www.plcworld.cn

1
y2

y1

GC 1 ( s ) GC 2 ( s ) GP 2 ( s ) GP 1 ( s )
GFT ( s ) =
1 + k2 GC 2 ( s ) GP 2 ( s ) + k FT 1 GC 1 GC 2 G P 2

kFT1

y2

y1

k FT 1 = k1GP 1 ( s )
kFT1

www.plcworld.cn

f2
r1

GC1 (S )

r2

GC 2 (S )

f1
y2

GP2 (S )

G P1 (S )

p (NN )

k2
kf
k1

y1

y1

www.plcworld.cn

13.5

www.plcworld.cn

13.5.1

www.plcworld.cn

1)
U

F
F U [0 1]
F (x) =1
u
F (x) =0
u
0 F (x) 1 u
u
F
F
F= { u F(u) | u
u

[0 1]

F
F
F
F
U}

www.plcworld.cn

U


Zadeh
U

{u1 ,u2 , un }
F=

F ( u1 )
u1

F ( u2 )
u2

F ( ui )

ui

F
+
U

+L +

f(ui)

Zadeh

F ( un )
un

ui

ui

ui (i=1,2, n)

www.plcworld.cn

ui(i=1,2, n)

F(ui)
F
F = ( F(u1) , F(u2) ,

F(un) )
0

U
ui
F(ui)
ui , F(ui)
F
F= { u1, F(u1) , u2, F(u2) , , u3,
F(u3) }

www.plcworld.cn

F
F(ui)

F(ui)
ui

F
F

U = {u1 ,u2 ,u3 ,u4 ,u5 }

zadeh
0.3 0.5 1.0 0.7 0.4
F=

u1

u2

u3

u4

u5

F= (0.3, 0.5, 1.0, 0.7, 0.4)

F= {< u1, 0.3>, < u2, 0.5>, < u3, 1.0>, < u4, 0.7>, < u5, 0.4> }

www.plcworld.cn

U=[0 150]

Y
0

1
O ( u ) =
1 + 5
u 50

1
Y ( u) =
1 + u 25
5

0 u 50
50 < u 150

0 u 25
25 < u 150

www.plcworld.cn

U
F(u)=1,

F
F

E ( u) = 1

U
u U

U
F(u)=0,

F
( u) = 0

u
E

U
u U

U
u
A(u)>= B(u),
A B B A
U
u
A(u)= B(u),

A B
A
B B
A B
A B

A=B

www.plcworld.cn

A B

u U

C ( u) = A ( u) B ( u) = max( A ( u), B ( u))

C A B

C=A B
A B C

C ( u) = A ( u) B ( u) = min( A ( u), B ( u))

C A B
B ( u) = 1 A ( u )

B A

u U

C=A B
A B

u U

B= A
A B

u U

www.plcworld.cn

A B
XY

X Y
AB A B

A B ( x , y ) = A ( x ) B ( y ) = min( A ( x ), B ( y ))

X= x1, x2, x3, x4

1 0.8 0.4 0.5
A=
+
+
+
x1 x2
x3
x4

A B

A B

AUB =
=

0.9 0.4 0.7

B=
+
+
x1
x2
x4

A B

1 0.9 0.8 0.4 0.4 0 0.5 0.7

+
+
+
x1
x2
x3
x4

1 0.8 0.4 0.7

+
+
+
x1 x2
x3
x4

www.plcworld.cn

1 0.9 0.8 0.4 0.4 0 0.5 0.7

+
+
+
AI B =
x1
x2
x3
x4
0.9 0.4 0.5
=
+
+
x1
x2
x4

1 1 1 0.8 1 0.4 1 0.5

A=
+
+
+
x1
x2
x3
x4
0 0.2 0.6 0.5
+
+
=
+
x1 x2
x3
x4
1 0.9 1 0.4 1 0 1 0.7
B=
+
+
+
x1
x2
x3
x4
0.1 0.6 1 0.3
+
+
=
+
x1 x2 x3 x4

www.plcworld.cn

a.

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

A
B
A B
A
B
R
A B
A B
A B
R
RA
R(ai, bj)) m
B=(rij) m
n=(
n
i=1,2,,m j=1,2,,n
R(ai, bj)
ai, bj
ai, bj
R

www.plcworld.cn

IF A THEN B

R1R2

R1 X Y
R1 R2

IF B THEN C

R2 Y
X

R1 R2 ( x, z ) = { R1 ( x, y ) R2 ( y, z )}, ( x, z ) X Z
yY

www.plcworld.cn

R1
R2
0.8 0.3
R1 =
,

0.3 0.6

0.7 0.5
R2 =

0.1
0.1

0.8 0.3 0.7 0.5

R1 o R2 =
o

0.3
0.6
0.1
0.1

((0.8 0.7),(0.3 0.1)) ((0.8 0.5),(0.3 0.1))

=

((0.3

0.7),(0.6

0.1))

((0.3

0.5),(0.6

0.1))

0.7 0.5
=

0.3
0.3

www.plcworld.cn

Zadeh
Zadeh
A U
B V
A B A B
A B U
V
R=A

B=(A B) (1 A)

www.plcworld.cn

X=Y={1 2 3 4 5}

=0.4/3+0.7/4+1/5
=1/1+0.7/2+0.4/3

=1/1+0.6/2+0.4/3+0.2/4
x
y
(x) = [1 0.7 0.4 0
(y) = [0 0 0.4 0.7

(x) = [1 0.6 0.4

zadeh

(x) = [
(x)
Rzd

x=

y=?

0]
1]
0.2 0]
(y)]

[1-
(x)]

www.plcworld.cn

((1 0),(1- 1))

0 0.4 0.7 1
0
0.3 0.3 0.4 0.7 0.7

Rzd = 0.6 0.6 0.6 0.6 0.6

1
1
1
1
1
1
1
1
1
1

((1 0.4),(1- 1))

((1 0.7),(1- 1))

(x) = [1 0.7 0.4 0 0]

(y) = [0 0 0.4 0.7 1]

((1 0),(1- 1))

y) =

x ) R zd

0 0.4 0.7 1
0
0.3 0.3 004 0.7 0.7

[1 0.6 0.4 0.2 0] o 0.6 0.6 0.6 0.6 0.6 = [ 0.4 0.4 0.4 0.7 1]

1
1
1
1
1

1
1
1
1
1

[(1

0), (0.6 0.3), (0.4

0.6), (0.2 1), (0

1)]

www.plcworld.cn

13.5.2

1)

www.plcworld.cn

www.plcworld.cn

[-e, e]
{NB,NM,NS,ZO,PS,PM,PB}

www.plcworld.cn

ZN

e1
PS
1.0

ZE

PS

0.7
0.3

ei

e1

0.3 0.7
e1 =
+
ZE PS

www.plcworld.cn

[-e, e]
X={-n,-n+1 0 1 n-1,n}
e
n
[0, e]
n=6

www.plcworld.cn

www.plcworld.cn

R11

R11
R11
E NB

EC
EC NB

U NB

www.plcworld.cn

zm

z0 =

(z )dz

(z )dz

z0 =

z
i =1
n

i =1

( zi )

( zi )

www.plcworld.cn

0 .1 0 .4 0 .7
1 .0
0 .7
0 .3
U1 =
+
+
+
+
+
2
3
4
5
6
7

u 10 = df ( z 1 ) = 5
0.1 2 + 0.4 3 + 0.7 4 + 1 5 + 0.7 6 + 0.3 7
u10 =
= 4.84
0.1 + 0.4 + 0.7 + 1 + 0.7 + 0.3

www.plcworld.cn

2
a.

E
d
dt .
E

E
d
dt E.

.
E
d ..
dt E

www.plcworld.cn

b.

-1

1.0

-1

[-1 1] 3

www.plcworld.cn

x1 x2

3 7
3
7=21

www.plcworld.cn

c
if then










www.plcworld.cn

d.
e.

www.plcworld.cn

a.
T
e =Td - T

de
u

k1

k2

k3

Td

www.plcworld.cn

b.
9

x, y, z ={-4, -3, -2, -1, 0, 1, 2, 3, 4}

e
[-50 50]
de
[-150 150]
u
[-64 64]
k1= 4/50 =2/25,

k2 = 4/150 = 2/75,

5
{PB PS

ZE

NS

NB}

k3 = 4/64

www.plcworld.cn

-50

-30

-15

-5

15

30

50

de

-150 -90

-30

-10

10

30

90

150

-64

-16

-4

-2

16

64

-4

-3

-2

-1

PB

0.35

PS

0.4

0.4

ZN

0.2

0.2

NS

0.4

0.4

NB

0.35

www.plcworld.cn

c.

T

3
4

0
t

www.plcworld.cn

e = Td - T
(NB)

e
de

u
1
U
2
U
3
U
4
U

e
PB;
e
PB;
e
PB;
e
PB;

(PB)
NB

de PB

NB

de PS

NB

de ZE

NB

de NS

www.plcworld.cn

de

de

NS

de ZE

NS

de PS

NS

de PB

ZE

de ZE

PS;
6
U

ZE;

7
U

NS;

8
U

ZE;

www.plcworld.cn

9
U

ZE

de

PS

e
NB

ZE

de

PB

NS;

10
U

www.plcworld.cn

de

11
U
12
U
13
U
14
U

e
PS;
e
PB;
e
PS;
e
PB

NS

de NS

NS

de NB

ZE

de NS

ZE

de NB

www.plcworld.cn

U
DE

NB
NS
ZN
PS
PB

NB

NS

ZE

PS

PB

*
PB
PB
PB
PB

PB
PS
PS
ZN
NS

PB
PS
ZE
NS
NB

PS
ZE
NS
NS
NB

NB
NB
NB
NB
*

www.plcworld.cn

d.

www.plcworld.cn

ei

cij dej

-4

-3

-2

-1

-4
-3
-2

4
3
3

3
3
3

3
3
2

2
2
2

2
2
1

3
2
1

0
0
0

0
0
-1

0
0
-2

-1
0
1
2
3
4

3
2
2
1
0
0

2
2
1
1
0
0

2
1
1
0
0
0

1
1
0
-1
-1
-1

1
0
-1
-1
-2
-2

0
-1
-1
-2
-2
-2

-1
-1
-2
-2
-3
-3

-1
-2
-2
-3
-3
-3

-2
-2
-3
-3
-3
-4

www.plcworld.cn

13.5.3
1
a.

PID
PID

7
73=343

www.plcworld.cn

b.

P
7
PD
P

49
7
49+7=56

www.plcworld.cn

c.

PID

ui

PID

49

PD

uf

www.plcworld.cn

2
PID
a.

PID

www.plcworld.cn

b.

www.plcworld.cn

PID
e
e
PID

PID
PID

KP
KI=0

KD

www.plcworld.cn

KP

KD
KI

KP KI
KD

www.plcworld.cn

13.6

www.plcworld.cn

13.6.1

si =

w
j=1

ji

x j i =

w 0 i = i ,
yi = f ( si )

wij

f()

w
j=0

x0 = 1

ji

xj

www.plcworld.cn

2
f(x)
1

f(x)
1

0
-1

-1

(a)

(b)

1
f (x )

f(x)

x 0
x 0

f (x )

1
1 e x

f(x)

0.5
0

(c)

1 e x
f (x )
1 e x

-1

(d)

f (x ) e

x 2 2

www.plcworld.cn

13.6.2
1 BP
BP

k
-

wjk

wij

BP

www.plcworld.cn

BP
BP

BP
f (x ) =

sigmoid
1
1 + e

- (x - q )

www.plcworld.cn

BP
BP

BP

www.plcworld.cn

RBF
RBF (Radial Basis
Function)

RBF

www.plcworld.cn

RBF
RBF
(x - c )2
j
m j (x ) = e x p

2
s

j = 1, 2 , L , n

X
cj
j
n

www.plcworld.cn

RBF
n

ij

mi (x )

i = 1, 2, L , m

j= 1

m:
RBF
BP
RBF

BP
Sigmoid

www.plcworld.cn

-1

-1

-1

Hopfield

n
j wij
j

www.plcworld.cn

Hopfield

-1

www.plcworld.cn

13.6.3
( )
NN1
NN2

NNC
NNI

www.plcworld.cn

y d (t)

y(t)

u(t)

y(t + k)

e(t)

y(t)

www.plcworld.cn

13.7

13.7.1

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

A.
a.

www.plcworld.cn

b.

Bayes

www.plcworld.cn

a.

www.plcworld.cn

b.

c.

www.plcworld.cn

d.

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

13.7.2

1
a.

www.plcworld.cn

b.

www.plcworld.cn

www.plcworld.cn




www.plcworld.cn

A/D

D/A

www.plcworld.cn

www.plcworld.cn

13.7.3

www.plcworld.cn

www.plcworld.cn

www.plcworld.cn

0.7MP
1.1MP

T/P

65
0.97MP
1.2MP

85

www.plcworld.cn

TIME
T
P
H

T
P

TT

www.plcworld.cn

IF(TIME, T,
IF(TIME, P,

T, TT) THEN OUT1

P) THEN OUT2

IF(TIME, T, P, OUT1, OUT2, H) THEN OUT3