Observers in Control Systems
详细介绍了状态观测器及其在控制系统中的应用。Observers inControl SystemsA Practical guideGeorge ellisDanaher corporation4ACADEMIC PRESSAn imprint of elsevier ScienceAmsterdam Boston London New York Oxford ParisSan Diego San Francisco Singapore Sydney TokyoThis book is printed on acid-free paper ooCopyright 2002, Elsevier Science (USA)All rightsNo part of this publication may be reproduced or transmitted in any form or by anymeans, electronic or mechanical, including photocopy, recording, or any informationstorage and retrieval system, without permission in writing from the publisher. Requestsfor permission to make copies of any part of the work should be mailed to thefollowing address: Permissions Department, Harcourt, Inc, 6277 Sea Harbor DriveOrlando. Florida. 32887-6777.ACADEMIC PRESSAn imprint of Elsevier Science525 B Street, Suite 1900, San Diego, CA 92101-4495, USAhttp://www.academicpress.comAcademic pr84 Theobalds Road. London WCIX 8RR. UKhttp://www.academicpress.comLibrary of congress control Number: 2002104256International Standard book Number: 0-12-237472-XPrinted in the United States of america020304050607MB987654321TO Lee Ann, my loving wife, and our daughter Gretchen, who makes us both proud.Observers in Control Systems■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■Acknowledgments■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■Safety■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■1 Control Systems and the role of observers■■■■■■■■■■■■■■■■1.1 Overviewaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa1.2 Preview of observers21.3 Summary of the book2 Control-System Background52.1 Control-System Structures52.2 Goals of control systems132.3 Visual Model Simulation Environment2. 4 Software Experiments: Introduction to Visual ModelQ182.5 Exercises393 Review of the Frequency Domain.■■■■■■■■■■■■■■■■■■■■■■■■■■■■■3. 1 Overview of the s-domain413.2 Overview of the z-Domain543.3 The Open-Loop Method593.4 A Zone-Based Tuning Procedure623.5 Exercises664 The Luenberger observer: Correcting SensorProblems674. 1 What Is a luenberger observer?674.2 Experiments 4A-4C: Enhancing Stability with an Observer724.3 Predictor-Corrector Form of the Luenberger Observer774. 4 Filter Form of the luenberger observer. ..................................784.5 Designing a Luenberger observer824.6 Introduction to Tuning an observer compensator9047 Exercises955 The Luenberger Observer and Model Inaccuracy... 975.1 Model Inaccuracy.........….……,975.2 Effects of Model Inaccuracy .............................................1005.3 Experimental Evaluation1025.4 Exercises1146 The Luenberger observer and disturbances1156.1 Disturbances1156.2 Disturbance Response1236.3 Disturbance DecouplingIB..-.81296.4 Exercises1387 Noise in the Luenberger Observer…,,,…,,…,…,1417.1 Noise in Control Systems1417.2 Sensor noise and the luenberger observer1457.3 Noise Sensitivity when Using Disturbance Decoupling1567. 4 Reducing Noise Susceptibility in Observer-Based Systems1617.5 Exercises1708 Using the Luenberger Observer in Motion Control1738.1 The Luenberger observers in motion Systems1738.2 Observing Velocity to Reduce Phase Lag1858.3 Using observers to Improve Disturbance Response..... 2028.4 Exercises212Referencesn213A Observer-Based resolver conversion in industrialServo Systems1■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■217B Cures for mechanical resonance in IndustrialServo Systems227Introductionaaa日aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa日aaaaa.aaaaaaaaaaaaaaa日aa227TWo-Part Transfer function228LOW-Frequency Resonance229Velocity Control Law…...8....230Methods of Correction Applied to Low-Frequency Resonance231Conc| usion.…235Acknowledgments235References235C European Symbols for Block Diagrams237Part Linear functions237Part l: nonlinear functions238D Development of the bilinear transformation241Bilinear Transformation241Prewarning242Factoring polynomials243Phase Advancing………………………,243Solutions toChapter 2245Chapter 3245Chapter 4246Chapter 5重口m口m246Chapter 6247Chapter7.….B..8..8..8...248Chapter 8249Index251AcknowledgmentsWriting a book is a large task and requires support from numerous people, and thosepeople deserve thanks. First, I thank LeeAnn, my devoted wife of more than 20 yearsShe has been an unflagging fan, a counselor, and a demanding editor. She taught memuch of what I have managed to learn about how to express a thought in ink. Thanksto my mother who was sure I would grow into someone in whom she would be proudwhen facts should have dissuaded her Thanks also to my father for his insistence thatI obtain a college education; that privilege was denied to him, an intelligent man borninto a family of modest meansI am grateful for the education provided by Virginia Tech Go Hokies. The basicsof electrical engineering imparted to me over my years at school allowed me to graspthe concepts I apply regularly today. I am grateful to Mr. Emory Pace, a toughprofessor who led me through numerous calculus courses and, in doing so, gaveme the confidence on which I would rely throughout my college career and beyondI am especially grateful to Dr Charles Nunnally; having arrived at university froma successful career in industry, he provided my earliest exposure to the practicalapplication of the material I strove to learn. I also thank Dr robert lorenz of theUniversity of Wisconsin at Madison, who introduced me to observers some years agoHis instruction has been enlightening and practical. Several of his university coursesare available in video format and are recommended for those who would like toextend their knowledge of controls. In particular, readers should consider ME 746which presents observers and numerous other subjectsI thank those who reviewed the manuscript for this book. Special thanks goes toDan Carlson for his contributions to almost every chapter contained herein Thanksalso to Eric Berg for his numerous insights. Thanks to the people of KollmorgenCorporation(now, Danaher Corporation), my long-time employer, for their continuing support in writing this book. Finally, thanks to Academic Press, especially to JoelClaypool, my editor, for the opportunity to write this edition and for editing, printing, distributing, and performing the myriad other tasks required to publish a bookX1
- 2020-12-11下载
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Simplorer内部培训资料
Simplorer V9的培训资料，非常详细，一共407页的PDF，看完这个PDF，相信你已经是simplorer高手了。Conventions Used in this GuideGetting HelpAnsoft Technical SupportHelp MenuContext-Sensitive Help1. IntroductionOverview of the Simplorer Interface .........1-32. Creating a New ProjectAbout the three-Phase rectifier2-2Expected Results2-3Using Simplorer to Create and Improve the Design2-4Creating the new project2-5Add the New project2-5Rename the designAdd Design Notes(Optional)Save the New project2-73. Create the rectifier modelCreate the Three-Phase rectifier Schematic. 3-2Choosing, Placing, and Arranging Components onthe schematic she.3-3Connecting the Components3-8Defining Component Properties3-9Property Displays for Components3-13Specifying simulation Outputs.3-16Defining Solution Options and Analysis Parameters3-18Starting an Analysis3-19Plotting Rectifier Model Simulation Results3-204. Hysteresis Current-Controlled DC-Motor Start-UpModify the Rectifier Model Design.4-2Deleting the Resistive/Inductive Load,4-3Saving the sheet with a New Name4-3Place and Arrange the New Components4-4Connect the New Components.,,,,,,4-5Defining dc Machine valuesDefining Mechanical Load4-7Freewheeling Diode4-8Chopper Transistor4-8Controller Modeling using block elements..4-9Modifying Report Elements...4-11Display Diode CharacteristicDefining Simulation Parameters.4-13Starting Simulation(Block Components.4-13Simulation Results(Block Components)... 4-14Controller Modeling Using State Graph Components4-15Connecting the State Graph Components4-16Defining Properties of State Graph Components 4-Using Name References4-19Deactivating Components on the sheet4-19Starting Simulation(State Graph)...4-21Simulation Results(State Graph)4-225. Current and Speed Controlled Dc MotorModify the State graph design5-2Deleting the State GraphSaving the sheet with a New namePlacing and Arranging the New Block Componentson the sheet5-4Connecting the New ComponentsDefining Mechanical Load (Block)Defining the pl controller.........5-8Starting Simulation..5-12Adding a Rectangular Plot(Pl Controller)... 5-13Adjusting Plot Properties.5-14Checking the block Sequence..5-16Using Automatic Block Sorting5-16Using Manual Block Sorting5-16Rerun the Simulation(PI Controller)Simulation Results(PI Controller)5-176. Using VHDL-AMS Components forModelingVHDL-AMS Components,,,,.6-2Modify the pl controller Design.6-3Save the project with a new name6-3Delete the dc Machine component6-4Placing and Arranging the New VHDL-AMs Components on the sheet6-4Connecting the New VHDL-AMS Components 6-4Defining VHDL-AMS DC Machine values6-4Defining Connections for Machine Current..6-5Defining Simulation ParametersAnalyze and Display Simulation Results(VHDLAMS6-67. Variants of PWM ModelingPWM Modeling Overview7-2Create a New Project for the pWm models ..7-3Setting Initial ConditionsPWM Modeling Using EquationsDefining Simulation Parameters7-4Displaying Simulation Results with Reports 7-4Simulation results 7-6PWM Modeling with Equations and Time Function7-6PWM Modeling with State Graph Components 7-8Place and arrange the components on the sheet7-8Define Component properties翻国7-9PWM Modeling with Block Diagram Components 7Placing and Arranging the Components on theSheet7-118. Importing Legacy SchematicsTranslating a Legacy Schematic..8-2Importing the legacy Schematic8-2Starting an analysis...,,8-6Plotting Simulation Results8-7Estimated time tooplete this guide45 minutes
- 2020-11-27下载
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