計算機(jī)控制—史密斯預(yù)估器編程.doc

東南大學(xué)能源與環(huán)境學(xué)院實 驗 報 告課程名稱： 計算機(jī)控制概論 實驗名稱： Smith預(yù)估控制實驗 院 （系）： 能源與環(huán)境學(xué)院 專 業(yè)： 熱能與動力專業(yè) 姓 名： 李棟 學(xué) 號： 03012117 實 驗 室： 實驗組別： 同組人員： 實驗時間： 2015 年 04月10 日評定成績： 審閱教師： 目 錄一、實驗?zāi)康?二、實驗內(nèi)容3三、實驗步驟3四、實驗分析12Smith預(yù)估控制實驗一 實驗?zāi)康?通過實驗掌握Smith預(yù)估控制的方法及程序編制及調(diào)試。二 實驗內(nèi)容 Smith預(yù)估控制系統(tǒng)如圖所示， 圖一對象G(S)= Ke-s / (1+T1S) ,K = 1, T1 = 10 s , = 5 s ,Wc(z)采用數(shù)字PI控制規(guī)律。 對象擾動實驗畫出U(t) = u01(t)時，y(t)曲線。 Smith預(yù)估控制(1) 構(gòu)造W(S)，求出W(Z)。(2) 整定Wc(s)(按什么整定？)(3) 按圖仿真，并打印曲線。 （4） 改變W(S)中K，（對象不變），進(jìn)行仿真比較，觀察它們對調(diào)節(jié) 過程的影響。三 實驗步驟1、對象擾動實驗源程序如下：#includeiostream.h#includemath.h#includefstream.hvoid main()fstream outfile(data1.xls,ios:out);double t;double u0;coutt;coutu0;double ee=pow(2.718,(-t/10.0);int N;int i;double u100,y100;for(i=0;i100;i+)ui=u0;yi=0.0;N=1+5/t;for(i=N;i100;i+)yi=(1-ee)*ui-N+yi-1*ee;for(i=0;i*t100;i+)coutyit;for(i=0;i*t100;i+)outfilei*tt;outfilen;for(i=0;i*t100;i+)outfileyit;outfile.close();（3）輸出結(jié)果：當(dāng)采樣周期T=1，階躍幅值為1時：Y（t）輸出數(shù)據(jù)：0 0 0 0 0 00.09515320.1812520.2591590.3296520.3934380.4511540.5033790.5506340.5933920.6320820.6670910.6987680.7274310.7533670.7768350.798070.8172840.834670.8504020.8646370.8775170.8891720.8997170.9092590.9178940.9257060.9327760.9391720.944960.9501970.9549360.9592240.9631040.9666150.9697920.9726660.9752670.977620.979750.9816770.983420.9849980.9864250.9877170.9888860.9899430.9909 0.9917660.992550.9932590.9939 0.994480.9950060.9954810.9959110.9963 0.9966520.9969710.9972590.997520.9977560.9979690.9981620.9983370.9984960.9986390.9987680.9988850.9989910.9990870.9991740.9992530.9993240.9993880.9994460.9994990.9995470.999590.9996290.9996640.9996960.9997250.9997510.9997750.9997960.9998160.9998330.9998490.9998630.9998760.9998880.9998990.9999080.999917階躍響應(yīng)曲線如下：圖二2、Smith預(yù)估控制源程序如下：#includeiostream.h#includemath.h#includefstream.hvoid main()fstream outfile(data1.xls,ios:out);double t,kp,ki;int t1,k;coutk;coutt1;coutt;coutkp;coutki;double ee=pow(2.718,(-t/10.0);int N,N1;int i;double r100,e1100,e2100,cm100,q100,u100,y100;for(i=0;i100;i+)ri=1.0;e1i=0.0;e2i=0.0;ui=0.0;yi=0.0;cmi=0.0;qi=0.0;N=1+5/t;N1=t1/t;coutNtN1endl;for(i=0;i0&i=N)yi=(1-ee)*ui-N+yi-1*ee;if(i=N1)e1i=ri-yi-1;cmi=ee*cmi-1+k*(1-ee)*ui-1;qi=cmi-cmi-N1;e2i=e1i-qi;ui=ui-1+kp*(e2i-e2i-1)+ki*e2i;if(i=N)yi=(1-ee)*ui-N+yi-1*ee;for(i=0;i*t100;i+)coutyit;for(i=0;i*t100;i+)outfilei*tt;outfilen;for(i=0;i*t100;i+)outfileyit;outfile.close();（3）輸出結(jié)果：以下所涉及到的采樣周期均為T=1，PI控制器的參數(shù)均為Kp=1，Ki=1；當(dāng)Smith預(yù)估器中的K=1，延遲時間=5時（即與對象的特性完全符合）：Y（t）輸出數(shù)據(jù)：0000000.1903060.4214410.6636410.8917551.086761.236391.371281.471041.53111.549551.527611.469561.389311.293441.189831.085670.9872460.899810.8287990.7769830.7456530.7345240.7419550.7652510.8012570.8462170.8962230.947450.9964021.040111.076311.10351.12091.128481.126831.117081.100791.079731.055811.030931.00680.9849190.9664630.9522530.9427440.9380320.937890.9418160.9491010.9588950.9702790.9823330.9941951.005111.014481.021861.026981.029781.030321.028821.025611.021081.015691.009871.004060.9986270.9938930.9900860.987350.9857450.9852490.9857710.9871630.9892380.9917830.9945810.997421.000111.00251.004451.00591.00681.007151.0071.006411.005471.004281.002931.001551.000220.9990270.9980280.9972690.996773擾動曲線如下：圖三當(dāng)Smith預(yù)估器中的K=1，延遲時間=2時（即與對象的特性不完全符合）：Y（t）輸出數(shù)據(jù)如下：0000000.1903060.4214410.6636410.9279711.210951.506191.810532.085772.314632.489892.601232.638892.595622.465642.250951.958931.599891.187740.7400930.277571-0.176632-0.598368-0.963966-1.25121-1.44044-1.51579-1.4662-1.28642-0.977633-0.547714-0.01125320.6107651.291641.999962.700933.3583.934554.395884.711034.854644.808624.563514.119523.487122.687151.750360.716479-0.367272-1.44817-2.47036-3.37751-4.11571-4.63639-4.89916-4.87439-4.54543-3.91026-2.98249-1.79168-0.382781.185242.84154.50626.094087.518558.696039.5504510.017610.04949.616898.713477.356325.587043.471091.09587-1.43244-3.99312-6.45626-8.68888-10.5616-11.9554-12.7687-12.9234-12.3704-11.0941-9.11507-6.49149-3.318320.2752394.130268.0644511.8815.373118.3435擾動曲線如下：圖四當(dāng)Smith預(yù)估器中的K=2，延遲時間=2時（即與對象的特性不完全符合）：Y（t）輸出數(shù)據(jù)如下：0000000.1903060.3852250.5463440.7250840.9203711.114551.308341.469091.593381.692661.76081.790271.782271.737661.661471.560211.437781.299491.153021.005580.8639010.7341210.6213190.5299130.4634250.4238740.4118960.4269230.4672010.5299430.6114570.7072980.8125520.9221031.030841.133891.226831.305851.367931.410941.43371.435981.418481.382781.331211.266721.192741.112981.031270.9513810.8768450.8108160.755940.7142530.6871160.6751790.678380.6959770.7266050.7683670.8189360.8756810.9357970.9964341.054841.108451.155051.192811.220371.236891.242061.236091.219711.194051.160641.12131.078041.032960.9881820.9457050.9073590.8747110.8490120.8311460.821610.8205060.827550.8421020.8632080.8896560.9200410.9528350.9864621.01937擾動曲線如下：圖五四 實驗分析當(dāng)系統(tǒng)是特征方程中含有純遲延項的時候，系統(tǒng)的閉環(huán)穩(wěn)定性事下降的，當(dāng)遲延時間比較大的時候，系統(tǒng)就會不穩(wěn)定。因此采用常規(guī)的控制是難以使系統(tǒng)獲得滿意的控制性能的。理論上，一個被控對象的過程可分為純遲延環(huán)節(jié)和Gp（s）（不含有純遲延項），如果虛擬變量C可用某種方法測量，并作為反饋量連接到控制器，就可以把純遲項移到閉環(huán)的外面。因為在反饋信號中沒有遲延，系統(tǒng)的響應(yīng)將大大得到改善，同時在外回路用第二個反饋構(gòu)成Smith預(yù)估器控制系統(tǒng)，當(dāng)中的D（s）控制器采用常規(guī)的PI或PID控制器。采用S