111Equation Chapter 1 Section 1

MIMO
[1]

MIMO
H
2
10

[2]

[3]

Stanghellini Kempkes[4]
PID

Pasgianos Daskalov[5]

MIMO
MIMO

2
2.1
[6]
dTin t dw t
lC p l in I t Q plant t Qheater t Qvent t Qcond t Qsoil t
dt dt

= =
I = =
= Cp =
l = T = k
= Q plant =
Qheater = Qvent =
Qcond =
Qsoil =
Qvent Qcond,
Qvent t VR t C p Tin t Tout t VR t
win t wout t



Qcond t U Tin t Tout t

hin t C pTin t win t a hin t C pTin t win t

VR =
U =
h =
1
U U
lhin t I t VR t hin t hout t hin t hout t win t wout
t
Cp Cp


2.2
[7]
dwin t
l qevap t Q fog t q floor t qair ,ext t qair ,in t
dt

q evap =
Qfog =
q floor =
q air, ext =
air ,
=
q
Qair,ext Qair,in [8]
qair ,ext t VR t wout t

qair ,in t VR t win t

qevap t I t win t

lwin t I t q fog win t VR win t wout t

qfog
2.3
231

I U Tin Tout VR CP Tin Tout VR win wout 0

U
10

0 VR win wout q fog I win

1112[1]

q fog
VR Arbel[9]

11 U

12 11
12 15 4
15
= 0.64 1
W
U 6 16.4
m2 K
g water
5.8 104 3.7 103
J
kg DA
0.0106 0.1497
m2 s

2.4

x1 t hin t
x t
x2 t win t
hout t
VR t
u t
, d t wout t
q fog t I t

y t x t
y t 1 1
y2 t x2 t

14

14510
1 U U 1 U U
x1 u1 x1 x1 x2 d1u1 d1 d2 d3 gf1
l lC p lC p l lC p lC p l

1 1 1
x2 u1 x2 d 2u1 u2 d3 x2 gf 2
l l l l l

x1( e ) 7.25 104 J / kg DA x2 e 18.3 g water / kg DA

28C 75%[10]
5

d1 e
d 2 e d3 e x1 e x2 e

u1 e u2 e
1516
 u1 e 0.04 : 006 m3 DA / m 2 s u2 e 0.03 : 0.246 g water / m 2 s

13

f i fi f
x& x u i d
dx j du
j d k
g
y i x
dx j

0.36u1 e 0.0003U 0.77U 37666 0
x& x u
0 0.36u1 e 0.3 2.3 0.3

0.0003U 0.36u1 e 0.77U 0.3
d
0 0.36u1 e 0.3

1 0
y x
0 1

u1 e


1
G p s C sI A B
1

s 0.36u 0.3 s 0.36u 0.0003U

1e 1e

3766 s 1356u1 e 1130 1.77U 0.23U

2.3s 0.83u1 e 0.0007U 0.3s 0.1u1 e 0.00009U

1 3786.1148 s 0.02849 2.5896

G s
s 0.3263 s 0.004145 2.3125 s 0.01195 0.30168 s 0.01203

204

3 H
H LCF

Riccati

3.1
proper real-rational
LCF

Gp M M N N
1

N M G

= N M
, 0

H
LCF

H
1 LCF w
u z1,2 y K

 1 H
K LFT
w z
K
N zw I GK M 1
1

N M

small-gain theorem N ZW

1 K 1
I GK M 1
1
N zw 1 N zw

I

1 H [11]
Find N zw

K stabilizing

N zw w z N zw H

max min 1/ max

22
Iglesias[12]
 McFarlane Glover[13]

{A,B,C,D=0} min
1
min 1 XY
max

X Y algebraic Riccati equation

X AT XA AT XB I BT XB B T XA C T C
1

Y AYAT AYC T I CYC T CYAT BB T

1

I BBT XW 1 AKF I BBT XW 1 H KF
2 1 2 1

K z

B XW
2 T 1
I 2 T
BB XW
1 1
AKF B XW
2 T 1
I 2
BB XWT

1 1
H KF

W 2 1 I YX

H KF AYC T I CYC T
1

AKF A H KF C

H
LCF K

3.2 H
120 MIMO
1 ZOH [14]

1 1.864 105 z 3.556 10 4 2436 z 1184

G z
z 2 0.921z 0.1101 77.85 z 39.21 10.18 z 5.104


MATLAB LTI 2

2 MIMO G(s) G(z)

G Gd MATLAB

num={[-3786.1148 -3786.1148*0.02849],[2.5896];...
[-2.3125 -2.3125*0.01195],[0.30168 0.30168*0.01203]};
den={[1 0.3263+0.004145 0.3263*0.004145],[1 0.3263+0.004145 ...
0.3263*0.004145];[1 0.3263+0.004145 0.3263*0.004145],...
[1 0.3263+0.004145 0.3263*0.004145]};
G=tf(num,den);
num1={[-1.864e5 3.556e4],[2436 1184];[-77.85 39.21],[10.18 -5.104]};
den1 = {[1 -0.921 0.1101],[1 -0.921 0.1101];[1 -0.921 0.1101],...
[1 -0.921 0.1101]};
Gd=tf(num1,den1,60);
ltiview(G,Gd);


0.01rad/s

102 z
0
1 0
W1 z z 1 6/5
, W2 z
10 0 1
0
z 1

Gs z W2 z G z W1 z

3 MATLAB

num={[1.0e-2 0],[0];[0],[8.8 0]};

den = [1 -1];
W1=tf(num,den,60)
W2=[1 0;0 1];
Gd2=W1*Gd*W2;
ltiview(Gd2);

3
235
D=02627

28 X Y 29 min 10%
K(z)

1 K11 K12
K z
z 1 z 2 0.8524 z 0.1859 z 2 0.2885 z 0.02529 K 21 K 22

K11 9.3803 106 z 0.1375 z 2 0.9874 z 0.2474 z 2 0.4045 z 0.04643

K12 0.00021608 z 1.275 z 0.7154 z 0.1415 z 2 2.572 106 z 1.825 107
K 21 1.1523 105 z 0.1802 z 0.1411 z 0.06891 z 0.5624 z 0.6792
K 22 0.02005 z 0.1378 z 0.196 z 2 3.32 10 8 z 4.69 10 9

700

U
510 28
75%

H K(z)

4
[1]Waleed 2008
K(z)
Waleed 4 6
 4 2008 11 5 T 09:03-10:28

5 2008 11 5 09:03-10:28

6 2008 11 5 09:03-10:28
x +

2% 10%
6


5
MIMO

4 2 2

H MIMO 2 2

2%
10%

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