Chapter 2 Advanced Topics Li Shaoyuan E-mail:syli@sjtu.edu.cn
Chapter 2 Advanced Topics Li Shaoyuan E-mail: syli@sjtu.edu.cn
Structure ofaC
Structure of APC
Direct synthesis Closed loop transfer function C GG r 1+g Desired closed loop response R)d 1|(R R
Direct Synthesis Closed loop transfer function 1 C P C P C G G R G G Desired closed loop response C R d 1 1 C P d d C R G G C R
Example G(s)= K (S+1)(z2S+1 PI control G(S) K(,S+D) k(1+) TS TIS et v=171>7 C KK R;S(z2S+1)+1 r=√2 K Select kc to gives
Example 1 2 ( ) ( 1)( 1) P K G s s s PI control 1 (1 ) ( 1) ( ) I I C C C Is K s G s K s let I 1 1 2 1 2 ( 1) 1 C s s C KK R 1 2 KC 1 2 1 2 KC Select KC to give
IMC Tuning rules Controller P rocess y G -1° Ifg=g.e= d for all u If G=l and gmt is an inverse of gn, d canceled perfectly The controller GGG
IMC Tuning Rules If Gm = Gp , e = d for all u. If Gf = 1 and Gm + is an inverse of Gp , d canceled perfectly. f m m f m c G G G G G G 1 The controller