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3 System Representation (WWW - Powerjam.ir)
3 System Representation (WWW - Powerjam.ir)
ir
ﺧﻄﻲ
ﻧﻤﺎﻳﺶ ﺳﻴﺴﺘﻢ ﻫﺎي ﺧﻄ
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ﻣﻘﺪﻣﻪ
رﻳﺎﺿﻲ
ﻣﺪل ﺎ
ﻛﻨﺘﺮل ﻣﺒﺘﻨﻲ ﺑﺮ ل
ﻫﺎي ﻛ ل ﻛﻨﺘﺮل :ﺳﻴﺴﺘﻢ ﺎ
ﻫﺎي ﻛ ل • ﻃا
ﻃﺮاﺣﻲ ﺳﻴﺴﺘﻢ ﺎ
• ﻣﺪل ﺳﻴﺴﺘﻢ :ﻣﺪل ﺗﺤﻠﻴﻠﻲ رﻳﺎﺿﻲ
ﻣﺪل ﻫﺎي ﺑﻪ دﺳﺖ آﻣﺪه از ﺷﻨﺎﺳﺎﻳﻲ ﺳﻴﺴﺘﻢ
ﻣﺪل ﻫﺎي ﻣﺤﺎﺳﺒﺎت ﻧﺮم
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ﺗﻮﺻﻴﻒ ﺳﻴﺴﺘﻢ ﻳﺎ ﻣﺪﻟﺴﺎزي رﻳﺎﺿﻲ: •
ﻃﺮاﺣﻲ ﻫﺎي ﻛﻼﺳﻴﻚ
ﻣﺪﻟﺴﺎزي ﺳﺎده SISO
ﺮوﺟﻲ ﻳﻳﺎ
ي ﺧﺮوﺟﻲ
ورودي
ﻴﻒ ورو ﻮ
ﺗﻮﺻﻴﻒ ﺗﺒﺪﻳﻞ
ﻳﻞ ﺑﻊ ﺒ
ل ﺗﺎﺑﻊ
-ﻣﺪل
ﺧﺎرﺟﻲ از ﺳﻴﺴﺘﻢ
x(t ) f x(t ), u (t ), t دﺳﺘﮕﺎه ﻣﻌﺎدﻻت دﻳﻔﺮاﻧﺴﻴﻞ ﻏﻴﺮ ﺧﻄﻲ
ﻣﻌﺎدﻻت ﺳﻴﺴﺘﻢ
y (t ) g x (t ), u (t ), t ﻣﻌﺎدﻻت ﻏﻴﺮ ﺧﻄﻲ ﺧﺮوﺟﻲ
ﻢ ﻲ
ﺧﻄﻲ ﺳﻴﺴﺘﻢﻴ ) x(t ) A(t ) x(t ) B(t )u (t ﻣﻌﺎدﻻت ﺣﺎﻟﺖ ﺧﻄﻲ
ﻣﺘﻐﻴﺮ ﺑﺎ زﻣﺎن
) y (t ) C (t )x (t ) D (t )u (t ﻣﻌﺎدﻻت ﺧﻄﻲ ﺧﺮوﺟﻲ
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ﺳﻴﺴﺘﻢ ﺧﻄﻲ ﺗﻐﻴﻴﺮ ﻧﺎﭘﺬﻳﺮ ﺑﺎ زﻣﺎن •
) x(t ) Ax(t ) Bu (t
) y (t ) Cx (t ) Du (t
) df (x
f (x ) f (x 0 ) x x 0 ) (x x 0
dx
f i
J x ij ﻣﺎﺗﺮﻳﺲ ﺟﺎﻛﻮﺑﻴﻦ
x j 6
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:• ﻛﺎرﺑﺮد در ﺳﻴﺴﺘﻢ ﻫﺎي ﻏﻴﺮ ﺧﻄﻲ
x (t ) x 0 (t ) x (t )
u (t ) u 0 (t ) u (t )
x(t ) f x(t ), u (t ), t
x0 (t ) x(t ) f x0 (t ), u0 (t ), t J x ( x0 (t ), u0 (t ), t )x(t )
J u ( x0 (t ), u0 (t ), t )u (t )
x(t ) J x ( x0 (t ), u0 (t ), t )x(t ) J u ( x0 (t ), u0 (t ), t )u (t )
A(t )x(t ) B(t )u (t )
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y (t ) C (t )x (t ) D (t ) u (t )
Where,
C (t ) g x (x 0 (t ), u 0 (t ), t ), D (t ) g u (x 0 (t ), u 0 (t ), t )
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• اﻧﺘﺨﺎب ﻣﺘﻐﻴﺮﻫﺎي ﺣﺎﻟﺖ
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ﻣﺜﺎل •
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ﻣﺜﺎل •
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اﻣﺎ اﮔﺮ ﺧﺮوﺟﻲ ﺳﻴﺴﺘﻢ ﺳﺮﻋﺖ زاوﻳﻪ اي ﺷﻔﺖ ﺑﺎﺷﺪ ،ﻣﺘﻐﻴﺮﻫﺎي ﺣﺎﻟﺖ
اﻳﻦ ﮔﻮﻧﻪ ﻣﻲ ﺷﻮﻧﺪ:
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Linear State Space Control Systems, R L. Williams, D A. Lawrence,
Wiley,2007.
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ﺣﻞ ﻣﻌﺎدﻻت ﺣﺎﻟﺖ ﺳﻴﺴﺘﻢ ﻫﺎي ﺗﻐﻴﻴﺮﻧﺎﭘﺬﻳﺮ ﺑﺎ زﻣﺎن
x(t ) Ax(t ) Bu (t )
x (t 0 ),u (t ) x (t ), y (t )
y (t ) Cx(t )
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• ﺣﻞ ﻛﺎﻣﻞ ﻣﻌﺎدﻻت ﺣﺎﻟﺖ و ﺧﺮوﺟﻲ ﺑﺎ ﺗﺒﺪﻳﻞ ﻻﭘﻼس
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ﺗﺒﺪﻳﻠﻬﺎي ﻫﻤﺎﻧﻨﺪي
ﻧﻤﺎﻳﺶ ﻓﻀﺎي ﺣﺎﻟﺖ ﻳﻜﺘﺎ ﻧﻴﺴﺖ
ﻣﺘﻐﻴﺮﻫﺎي ﺣﺎﻟﺖ اﻧﺘﺨﺎب ﺷﺪه وﻳﮋﮔﻲ ﻫﺎي ﺧﻮد را دارﻧﺪ
ﻛﺎرﺑﺮي ﻫﺎي ﺧﺎص ﺑﺮﺧﻲ ﻧﻤﺎﻳﺶ ﻫﺎي ﻓﻀﺎي ﺣﺎﻟﺖ:
ﺗﺤﻠﻴﻞ ﺳﻴﺴﺘﻢ
ﻃﺮاﺣﻲ ﻓﻴﺪﺑﻚ ﺣﺎﻟﺖ
روﻳﺘﮕﺮﺮ
ﻲ روﻳ
ﻃﺮاﺣﻲ
ﺮ
ﺗﺒﺪﻳﻞ ﻫﻤﺎﻧﻨﺪي ﻳﻚ اﺑﺰار ﻣﻨﺎﺳﺐ
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) x(t ) Ax(t ) Bu (t
) y (t ) Cx(t
) x (t ) Tz (t
) z (t ) T 1 ATz (t ) T 1 Bu (t
) y (t ) CTz (t
• دو ﻧﻤﺎﻳﺶ ﻛﺎﻣﻼ ﻣﻌﺎدل اﻧﺪ .ﺧﻮاص ذاﺗﻲ ﺳﻴﺴﺘﻢ از ﻗﺒﻴﻞ ﻗﻄﺐ -ﺻﻔﺮ -
ﭘﺎﻳﺪاري و ...ﺑﺎ ﺗﺒﺪﻳﻞ ﻣﺘﻐﻴﺮ ﺣﺎﻟﺖ ﺗﻐﻴﻴﺮ ﻧﻤﻲ ﻛﻨﻨﺪ.
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ﻣﺜﺎل •
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ﻗﻄﺮي ﺳﺎزي ﻣﻌﺎدﻻت ﺣﺎﻟﺖ و ﺧﺮوﺟﻲ
وﻳﮋﮔﻲ ﻫﺎي ﻧﻤﺎﻳﺶ ﻗﻄﺮي ﻣﺪال ﻳﺎ ﻧﺮﻣﺎل ﻓﻀﺎي ﺣﺎﻟﺖ
ﻣﺎﺗﺮﻳﺲ ال
ﻣﺪال ﺗﻮﺳﻂ ﺎ
ﻫﻤﺎﻧﻨﺪي ﻂ ﺗﺒﺪﻳﻞ ﺎ
ﺳﺎزي ﺎﺑﺎ ﻞ ﻗﻄ
ﻗﻄﺮي ﺎ
T 1AT
) z (t ) z (t )Bnu(t
) y (t ) Cnz (t
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• ﻣﺤﺎﺳﺒﻪ ﻣﺎﺗﺮﻳﺲ ﻣﺪال :ﻣﺎﺗﺮﻳﺲ ﺣﺎﻟﺖ ﺑﺎ ﻣﻘﺎدﻳﺮ وﻳﮋه ﻣﺘﻤﺎﻳﺰ
] A [v 1 v n ] [v 11 v n n
1 0
A [v 1 v n ] [v 1 v n ]
0 n
T
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ﻣﺜﺎل •
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• ﻗﻄﺮي ﺑﻠﻮﻛﻲ ﺳﺎزي ﻣﺎﺗﺮﻳﺲ ﺣﺎﻟﺖ ﺑﻪ ﺻﻮرت ﻛﺎﻧﻮﻧﻴﻜﺎل ﺟﺮدن
ﻣﺎﺗﺮﻳﺲ ﺣﺎﻟﺖ ﺑﺎ ﻣﻘﺎدﻳﺮ وﻳﮋه ﺗﻜﺮاري و ﺑﺮدارﻫﺎي وﻳﮋه واﺑﺴﺘﻪ ﺧﻄﻲ
ﻣﺎﺗﺮﻳﺲ ﻣﺪال وﻳﮋه ﺑﺮدارﻫﺎي وﻳﮋه ﺗﻌﻤﻴﻢ ﻳﺎﻓﺘﻪ ﺗﺒﺪﻳﻞ ﺑﻪ
ﻛﺎﻧﻮﻧﻴﻜﺎل ﺟ دن
ﺟﺮدن ﺻﻮرت ﻛﺎﻧ ﻧ ﻜﺎل
ﺻ ت
ﺻﻮرت ﻛﺎﻧﻮﻧﻴﻜﺎل ﺟﺮدن:
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• آﻧﭽﻪ ﻛﻪ ﺑﺎﻳﺪ ﺑﺪاﻧﻴﻢ)اداﻣﻪ(:
ﻣﺤﺎﺳﺒﻪ ﺑﺮدارﻫﺎي وﻳﮋه ﺗﻌﻤﻴﻢ ﻳﺎﻓﺘﻪ
ﻗﻀﻴﻪ (2-2
ﻲ اﻧﺪ ) ﻴ
ﻧﺎواﺑﺴﺘﻪ ﺧﻄﻲ
ﻴﻢ ﻳﻳﺎﻓﺘﻪ و ﺑ
وﻳﮋه ﺗﻌﻤﻴﻢ ﺑﺮ ر ي
ﺑﺮدارﻫﺎي وﻳﮋ
ﻣﺎﺗﺮﻳﺲ ﺗﺒﺪﻳﻞ ﺑﻪ ﺻﻮرت ﻛﺎﻧﻮﻧﻴﻜﺎل ﺟﺮدن:
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n n n
z i (t )ei =
i 1
zi (t ) Aei i (t )ei
i 1 i 1
n
( z i (t ) zi (t )i i (t ))ei 0
i 1
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) z i (t ) zi (t )i i (t i 1, , n
) z i (t ) zi (t )i zi 1 (t ) i (t i 1, , n
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ﻧﻮﺷﺖ:
ن ﻮﺗﻮان
ﻲ ﻮ ﻣﻲ
n
e At e i e i tw iT
i 1
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• ﭘﺎﺳﺦ ﺳﻴﺴﺘﻢ ﺑﺪون ورودي
x (t ) Ax (t )
z (t ) z (t )
z i (t ) e i t z i (0)
n
Tz (t ) e i e i t z i (0)
x (t ) T
i 1
n
zi (0) wiT x(0) ci
x (t ) e i c i e i t
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• ﻣﺜﺎل
:ﺳﻴﺴﺘﻢ زﻳﺮ را در ﻧﻈﺮ ﺑﮕﻴﺮﻳﺪ
x1 0 1 x1
2 3 x2
x2
: ﻣﺸﺨﺼﻪ ﻫﺎي ﺳﻴﺴﺘﻢ ﺑﻪ دﺳﺖ ﻣﻲ آﻳﻨﺪ،ﺑﺎ ﻣﺤﺎﺳﺒﻪ
1, 2 :ﻣﻘﺎدﻳﺮ وﻳﮋه
:ﺑﺮدارﻫﺎي وﻳﮋه راﺳﺖ
1 1
1 2
:ﺑﺮدارﻫﺎي وﻳﮋه ﭼﭗ
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:ﺿﺮاﻳﺐ ﻣﺸﺎرﻛﺖ
x (0)
c1 w x(0) 2 1 1 2 x1 (0) x2 (0)
T
1
x2 (0)
x (0)
c2 w2T x(0) 1 1 1 x1 (0) x2 (0)
x2 (0)
:دارﻳﻢ
x(t ) e1c1e t e 2 c2 e 2t
:اﮔﺮ
c1 0 x(t ) e 2 c2 e2t
c2 0 x(t ) e1c1e t
:ﺗﻮﺟﻪ ﻛﻨﻴﺪ ﻛﻪ
1
x(0) e2 c1 0
2
1
x(0) e1 c2 0
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