2021.11.7修改
1.系统
M
(
s
)
M(s)
M(s)的状态空间方程:
{
x
˙
1
=
−
4
x
˙
1
+
u
y
=
x
˙
1
\left\{\begin{array}{l} \boldsymbol{\dot x_1} = -4 \boldsymbol{\dot x_1} + \boldsymbol u \\ \boldsymbol{y} = \boldsymbol{\dot x_1} \end{array}\right.
{x˙1=−4x˙1+uy=x˙1
系统
N
(
s
)
N(s)
N(s)的状态空间方程:
{
[
x
˙
2
x
˙
3
]
=
[
−
3
0
0
−
2
]
[
x
2
x
3
]
+
[
1
1
]
u
y
=
[
−
2
4
]
x
\xcancel{\left\{\begin{array}{l} \begin{bmatrix}\boldsymbol{\dot x_2} \\ \boldsymbol{\dot x_3} \end{bmatrix} = \begin{bmatrix} -3 & 0 \\ 0 &-2\end{bmatrix} \begin{bmatrix}\boldsymbol{x_2} \\ \boldsymbol{x_3}\end{bmatrix} + \begin{bmatrix} 1 \\ 1 \end{bmatrix} \boldsymbol u \\ \boldsymbol y = \begin{bmatrix} -2 & 4 \end{bmatrix} \boldsymbol x \end{array}\right.}
⎩⎨⎧[x˙2x˙3]=[−300−2][x2x3]+[11]uy=[−24]x
{
[
x
˙
2
x
˙
3
]
=
[
0
1
−
6
−
5
]
[
x
2
x
3
]
+
[
0
1
]
u
y
=
[
8
2
]
x
\left\{ \begin{array}{l} \begin{bmatrix} \boldsymbol{\dot x_2} \\ \boldsymbol{\dot x_3} \end{bmatrix} = \begin{bmatrix} 0 & 1 \\ -6 & -5 \end{bmatrix} \begin{bmatrix} \boldsymbol{x_2} \\ \boldsymbol{x_3} \end{bmatrix} + \begin{bmatrix} 0 \\ 1 \end{bmatrix} \boldsymbol u \\ \boldsymbol y = \begin{bmatrix} 8 & 2 \end{bmatrix} \boldsymbol x \end{array}\right.
⎩⎨⎧[x˙2x˙3]=[0−61−5][x2x3]+[01]uy=[82]x
两个子系统串联,存在零极点对消,系统不能控。系统串联后的状态空间方程
{
x
˙
=
[
−
4
−
2
4
0
−
3
0
0
0
−
2
]
x
+
[
0
1
1
]
u
y
=
[
1
0
0
]
x
\xcancel{\left\{\begin{array}{l} \boldsymbol{\dot x} = \begin{bmatrix} -4 & -2 & 4 \\ 0 & -3 & 0 \\ 0 & 0 & -2 \end{bmatrix} \boldsymbol x + \begin{bmatrix} 0 \\ 1 \\ 1 \end{bmatrix} \boldsymbol u \\ \boldsymbol y= \begin{bmatrix} 1 & 0 & 0 \end{bmatrix} \boldsymbol x \end{array}\right.}
⎩⎪⎪⎨⎪⎪⎧x˙=⎣⎡−400−2−3040−2⎦⎤x+⎣⎡011⎦⎤uy=[100]x
{
x
˙
=
[
−
4
8
2
0
0
1
0
−
6
−
5
]
x
+
[
0
0
1
]
u
y
=
[
1
0
0
]
x
\left\{ \begin{array}{l} \boldsymbol{\dot x} = \begin{bmatrix} -4 & 8 & 2 \\ 0 & 0 & 1 \\ 0 & -6 & -5 \end{bmatrix} \boldsymbol x + \begin{bmatrix} 0 \\ 0 \\ 1 \end{bmatrix} \boldsymbol u \\ \boldsymbol y= \begin{bmatrix} 1 & 0 & 0 \end{bmatrix} \boldsymbol x \end{array} \right.
⎩⎪⎪⎨⎪⎪⎧x˙=⎣⎡−40080−621−5⎦⎤x+⎣⎡001⎦⎤uy=[100]x
系统能控性矩阵
Q
c
=
[
B
A
B
A
2
B
]
=
[
0
2
−
10
0
1
−
5
1
−
5
19
]
\boldsymbol{Q_c}= \begin{bmatrix} \boldsymbol{B} & \boldsymbol{AB} & \boldsymbol{A}^2\boldsymbol{B} \end{bmatrix}= \begin{bmatrix} 0 & 2 & -10 \\ 0 & 1 & -5 \\ 1 & -5 & 19 \end{bmatrix}
Qc=[BABA2B]=⎣⎡00121−5−10−519⎦⎤
rank
Q
c
=
2
\text{rank}\boldsymbol{Q_c}=2
rankQc=2,不满秩,系统不能控。
2.系统的单位阶跃响应近似为一个调节时间
t
s
t_s
ts为
4.75
s
4.75s
4.75s的临界阻尼系统,即系统存在两个相同的极点,可得
t
s
=
4
ξ
ω
n
=
4.75
s
\xcancel{t_s=\frac{4}{\xi\omega_n}=4.75s}
ts=ξωn4=4.75s
解得
s
1
,
2
=
0.8421
\xcancel{s_{1,2}=0.8421}
s1,2=0.8421
由1可知,系统状态
x
1
x_1
x1不能控,设状态反馈后系统的特征方程为
Δ
∗
(
s
)
=
(
s
+
0.8421
)
2
=
s
2
+
1.6842
s
+
0.70913241
\xcancel{\begin{aligned} \Delta^*(s) & =(s+0.8421)^2 \\ & = s^2 + 1.6842s + 0.70913241 \end{aligned}}
Δ∗(s)=(s+0.8421)2=s2+1.6842s+0.70913241
设状态反馈矩阵为
K
=
[
K
1
K
2
]
\sout{\boldsymbol K = \begin{bmatrix}K_1 & K_2 \end{bmatrix}}
K=[K1K2],对应系统的特征多项式为
Δ
=
d
e
t
[
s
I
−
(
A
−
B
K
)
]
=
(
s
+
3
+
K
1
)
(
s
+
2
+
K
2
)
−
K
1
K
2
=
s
2
+
(
5
+
K
1
+
K
2
)
s
+
6
+
2
K
1
+
3
K
2
\xcancel{\begin{aligned} \Delta &= det[s\boldsymbol{I} - (\boldsymbol{A} - \boldsymbol{B}\boldsymbol{K})] \\ & = (s+3+K_1)(s+2+K_2) - K_1 K_2 \\ & = s^2 + (5 + K_1 + K_2)s + 6 + 2K_1 + 3K_2 \end{aligned}}
Δ=det[sI−(A−BK)]=(s+3+K1)(s+2+K2)−K1K2=s2+(5+K1+K2)s+6+2K1+3K2
对比两式可解得
{
K
1
=
−
4.6565321
K
2
=
1.34073241
\xcancel{\left\{\begin{array}{l} K_1 = -4.6565321 \\ K_2 = 1.34073241 \end{array}\right.}
{K1=−4.6565321K2=1.34073241
取线性变换矩阵为
P
=
[
0
2
1
0
1
0
1
−
5
0
]
\boldsymbol{P}= \begin{bmatrix} 0 & 2 & 1 \\ 0 & 1 & 0 \\ 1 & -5 & 0 \end{bmatrix}
P=⎣⎡00121−5100⎦⎤
线性变化后,系统的状态空间方程为
{
x
ˉ
˙
=
[
0
−
6
0
1
−
5
0
0
0
−
4
]
x
ˉ
+
[
1
0
0
]
u
y
=
[
0
2
1
]
x
ˉ
\left\{ \begin{array}{l} \boldsymbol{\dot{\bar{x}}} = \begin{bmatrix} 0 & -6 & 0 \\ 1 & -5 & 0 \\ 0 & 0 & -4 \end{bmatrix} \boldsymbol{\bar{x}} + \begin{bmatrix} 1 \\ 0 \\ 0 \end{bmatrix} \boldsymbol u \\ \boldsymbol y= \begin{bmatrix} 0 & 2 & 1 \end{bmatrix} \boldsymbol{\bar{x}} \end{array} \right.
⎩⎪⎪⎨⎪⎪⎧xˉ˙=⎣⎡010−6−5000−4⎦⎤xˉ+⎣⎡100⎦⎤uy=[021]xˉ
系统的单位阶跃响应近似为一个调节时间
t
s
t_s
ts为
4.75
s
4.75s
4.75s的临界阻尼系统,即系统存在两个相同的极点,由临界阻尼二阶系统的调试时公式
t
s
=
4.75
T
1
t_s=4.75T_1
ts=4.75T1可知,
T
1
=
1
T_1=1
T1=1。由线性变换后系统的状态空间方程可知,状态
−
4
-4
−4不可控,设变换后状态反馈矩阵为
K
ˉ
=
[
k
1
k
2
0
]
\boldsymbol{\bar{K}}= \begin{bmatrix} k_1 & k_2 & 0 \end{bmatrix}
Kˉ=[k1k20]
闭环特征方程为
Δ
(
s
)
=
(
s
+
4
)
[
s
2
+
(
k
1
+
5
)
s
+
5
k
1
+
k
2
+
6
]
\begin{aligned} \Delta(s)=(s+4)[s^2+(k_1+5)s+5k_1+k_2+6] \end{aligned}
Δ(s)=(s+4)[s2+(k1+5)s+5k1+k2+6]
由于状态
−
4
-4
−4不可控,则期望闭环特征方程为
Δ
∗
(
s
)
=
(
s
+
4
)
(
s
2
+
2
s
+
1
)
\Delta^*(s)=(s+4)(s^2+2s+1)
Δ∗(s)=(s+4)(s2+2s+1)
对比两式可解得
k
1
=
−
3
,
k
2
=
10
k_1=-3,\quad k_2=10
k1=−3,k2=10
状态
−
4
-4
−4不可控,设状态反馈矩阵为
K
=
K
ˉ
P
−
1
=
[
0
−
5
−
3
]
\boldsymbol{K}=\boldsymbol{\bar{K}}\boldsymbol{P}^{-1}= \begin{bmatrix} 0 & -5 & -3 \end{bmatrix}
K=KˉP−1=[0−5−3]
3.系统的能观性矩阵为
Q
o
=
[
1
0
0
−
4
−
2
4
16
14
−
24
]
\xcancel{\boldsymbol Q_o = \begin{bmatrix} 1 & 0 & 0 \\ -4 & -2 & 4 \\ 16 & 14 & -24 \end{bmatrix}}
Qo=⎣⎡1−4160−21404−24⎦⎤
Q
o
=
[
1
0
0
−
4
8
2
16
−
44
−
10
]
\boldsymbol Q_o = \begin{bmatrix} 1 & 0 & 0 \\ -4 & 8 & 2 \\ 16 & -44 & -10 \end{bmatrix}
Qo=⎣⎡1−41608−4402−10⎦⎤
r
a
n
k
Q
o
=
3
rank\boldsymbol Q_o =3
rankQo=3,满秩,系统完全能观,可以任意配置极点调节状态观测器的动态性能。将其中两个主导极点设置为
s
1
,
2
=
−
0.8421
\sout{s_{1,2}=-0.8421}
s1,2=−0.8421
s
1
,
2
=
−
1
s_{1,2}=-1
s1,2=−1,第三个极点要远离主导极点,实部的模比主导极点实部的模大三倍以上,可设为
s
3
=
−
5
s_3=-5
s3=−5。
2018南京航天航空大学820自动控制原理第九题
最新推荐文章于 2022-04-18 17:05:13 发布