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Ponencia Multirate WMC
Ponencia Multirate WMC
Ponencia Multirate WMC
MATLAB/SIMULINK
Carlos M. Vlez S.
Universidad EAFIT. Departamento de Ciencias Bsicas. Cra. 49 No. 7 sur 50. Medelln, Colombia.
E- mail: cmvelez@eafit.edu.co
Julin Salt
Universidad Politcnica de Valencia. Departamento de Ingeniera de Sistemas y Automtica. 22012. E46071. Valencia, Espaa. E- mail: jsalt@isa.upv.es
2.
1.
MULTIRATE MODEL
INTRODUCTION
T o = NT
(1)
~
T j are the sampling instants of input signal j. For the
x( k + 1)T ) = Ax(kT ) + Bu ( kT )
A = A(T ) = e
~
T~j = ( 1)T~j , = 1,2,..., N j
(2)
B = B (T ) = e
~
N j is the number of samples of input j in the frame period
C1
C= M ,D=
C p
(3)
Ti = ( 1)Ti , = 1,2,..., N i
Where
(5)
(Figure1).
~
Nj
~l
=1
=N
(6)
~
A = AN
~
B = B 1D
~ = CD
C
D
2
D
m
D
2
D T
p
D
ij
D
ij
b
(7)
(8)
u = [u1 L um ] , y = y1 L y p , x = [x1 L xn ]
T
D
i
( 11 )
D
i
D
ij ,
D
j
=A
l j
~
=1
l i
X~l j B j , c = Ci A =1
D
i
l j 1
dijD, = Ci ij , ( q) B j + ij ,
q =0
1
1
r
~ ~
A , if r = q + li l j lj 0
ij , (q) =
=1
=1
0
in other cases
1
1
~
~
dij , if 0 li lj < l j
ij , =
=1
=1
0
in other cases
l i .
x& = A p x + B pu
y = Cp x + D pu
where,
D
j
~
~
~
~ T j ( 1)T j T j ~
l j =
=
= lj
T
T
Even is defined
D
j
( 10 )
[ B L B ], B = [b ]
[ C L C ] , C = [c ]
~
D = [D ] , D = [d
]
~
l j is the dimension of each sampling interval of input j
~
~
T j , + 1 T j
~
,
l j =
T
(9)
D1
M
D p
~
~
x((k + 1)To ) = A
x( kTo ) + Bu D ( kTo )
D
~
~
y ( kTo ) = Cx( kTo ) + Du D ( kTo )
Ti1 = 0 , Ti , N i +1
B p d , B = [B1 L B m ],
(4)
= To , N = N1 + ... + N p
Ap
To .
~
~
T j 1 = 0 , T j , N~ +1 = To , N = N~1 + ... + N~ m
ApT
( 12 )
[
y (kT) = [ y (kT +T )
D
~
T11 = T11 = 0
11
]
| L]
To ~
T
, N j = ~o
Ti
Tj
~
~
N = l.c.m.( N1,...,N m , N1 ,...,N p )
dim(x) = n 1
dim(u D ) = N 1
dim(y D ) = N 1
~
dim(A ) = n n
~
dim(B) = n N
~
dim(C) = N n
~
dim(D) = N N
To = NT , N i =
( 14 )
N ~
N
~
, l j = ~ , Ti = liTo , T~j = l jTo
Ni
Nj
N = N1 + ... + N p , N = N~1 + ... + N~m
li =
i = 1, 2,..., p , j = 1, 2,...,m
~
= 1, 2,...,N i , = 1, 2,...,N j
4.
~
~
m = p = 1 , n = N1 = To /T1 , N1 = To /T1
~)
k = N = l.c.m.( N , N
1
~
A = Ak ,
b =A
bDj = A
~
N l j
ciD = Ci A
X ~l j B j , X ~l j = I + ...+ A
( 1) li
~
(15)
D
ij ,
[ ] [ ]
~
B = B1D = b 1D , = 1, 2,...,m
( m 1) k / m
XB,
X = I + ...+ A k / m1
k / m1
~
D
D = D11
= d11D, = C
q =0
[ ] [
( 17 )
(q) B +
~
l j 1
l j 1
d
= Ci ij , (q) B j + ij ,
q= 0
~
A r if r = q + ( 1)li ( 1)~
l j lj 0
ij , (q) =
in othercases
0
~ ~
d if 0 ( 1)li ( 1) l j < l j
ij , = ij
in othercases
0
D
1
3.
( 16 )
~
~ , = 1,2,..., N~
N i = 1, li = N , N~ j = T o / T~j , l j = N / N
j
j
~
~
N = p, N = N 1 + ... + N m
The model is:
Nj m
x
((
k
+
1
)
T
)
=
A
(
T
)
x
(
kT
)
+
Bj (T~j )u j ( kTo + ( 1)T~j )
o
o
o
=1 j =1
y (kT ) = Cx(kT )
o
o
5.
MULTIRATE TOOLBOX
(increment
s of B)
Nj m
x
((
k
+
1
)
T
)
=
A
(
T
)
x
(
kT
)
+
=1 j =1
(18)
y (kT ) = Cx(kT )
o
o
(increment
s of inputs)
with
Bij (T~j ) = A(T~j ) N B j (T~j ) = B j (To ( 1)T~j ) B j (To T~j )
and
u j (kTo) , if = 1
uj =
~
~
u j (kTo ( 1)Tj ) u j (kTo ( 2)Tj ), in othercases
Kranc
Operator
Araki-Yamamoto
Operator
Regular Compact
Operator
Irregular Compact
Operator
Regular Multirate
System
Irregular
Multirate System
~
Ti = To /N i , T j = To
~
~
N i = To /Ti , N j = 1 , li = N / N i , l j = N
= 1,2,..., N , = 1
The model is:
L1
and
0
X
li
= diag block
M
i = 1 , 2 ,..., p
X l i
1
1
1
= 0
0
M
0
M
0
0
M
0
0
M
0
1
1
0
0
0
M
1
M
M
0
M
0
0
M
X li
L
L
L
L
L
L
M
L
O
L
0
M
X li
0
0
M
Reference
+ ... + N
) (N
dim( L 2 ) = ( N
+ ... + N
) p
+ ... + N
s 2+2s+0.75
Regulator
Plant
Scope
0
0
M
0
0
0
M
0
M
dim( L 1 ) = ( N
Kranc
Operator
6.
EXAMPLE
0
0
2.5 0
2.5
4 1 0
x= 0
2 0 x + 10 1.2 y =
x
1 / 3 0 1
0
0 1
1
5 / 6
0
0 0
1 0
xc = 0 0
0 x c + 0 1 e
1 0 2. 5
0 0
6 / 13
0
20 / 13
10 / 13 12 / 65
u =
xc +
e
0
25 / 26 10 / 13 25 / 52
0
Sampling scheme:
Input 1:
Input 2:
Output 1:
Output 2:
T~1 = [0
T~2 = [0
T1 = [0
T 2 = [0
0. 15 0.2]
0.15]
0. 15 0.2]
0.15 0.25]
SYSTEM OUTPUTS
5
4.5
~ = 3, N~ = 2, N = 3, N = 3, N = 5, N = 6
N
1
2
1
2
T o = 0. 3, T = 0.05
~
l1 = [3 1 2], ~
l2 = [3 3], l1 = [3 1 2], l 2 = [3 2 1]
Using (10-(12) the calculate multirate compensator is:
4
3.5
3
2.5
2
1.5
0
0
1
~
AR =
0
1
0
0. 2111 0 0.4724
1
0.5
0
0. 05
0.1
0
0
0. 15
~
BR =
0
0
0
0. 15 0. 15
1. 5385 0. 4615
0
~
CR =
0. 0769
0. 7692
~ = 0. 2308
D
R
0
0
0
0. 1394
0
0
0. 1846
0
0. 0692 0. 1846
0. 0692 0.2077
0
0
0. 1154
0
0. 1154 0. 0769
5
6
Time (second)
1.4
1.6
1.8
10
CONTROL SIGNAL
4
3.5
3
2.5
2
1.5
1
0.5
0
0.2
0.4
0.6
0.8
1
1.2
Time (second)
CONCLUSIONS
Useful functions for MATLAB/SIMULINK to analysis of
multirate control systems were presented. Particularly, the
toolbox contain functions that implement Kranc Operator,
Araki-Yamamoto Operator, Regular Compact Operator
and Irregular Compact Operator. To facility the design, a
general irregular multirate model were used, which was
detailed presented in work. This model allow the
simulation of other cases exposed in the literature.
The good results of simulation validate all functions.
The tool represent a nice and intuitive path to study
multirate systems. It is easy to implement other possible
modeling methodologies.
The authors work in the development of tools to
MATLAB/SIMULINK to facility the design of multirate
compensators.
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Reference
Manual,
Hawthorne,
Systems
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