总目录:http://t.csdnimg.cn/YDe8m
5.9.7 数学模型——角度模型
可以按照“5.9.3”小节的步骤求解角度系统的状态空间方程。
(1)设计输入量、状态变量、输出量
设计角度系统的输入量为:
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5.9.29.
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u_1(t) = M_x(t) \qquad (5.9.29.a)
u1(t)=Mx(t)(5.9.29.a)
设计状态变量:
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5.9.29.
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5.9.29.
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\begin{aligned} &x_1(t) = A_x(t) \qquad &(5.9.29.b) \\ &x_2(t) = W_x(t) = \frac{\mathrm{d}A_x(t)}{\mathrel{d}t}\qquad &(5.9.29.c) \end{aligned}
x1(t)=Ax(t)x2(t)=Wx(t)=dtdAx(t)(5.9.29.b)(5.9.29.c)
设计输出量:
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5.9.29.
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5.9.30.
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\begin{aligned} &y_1(t) = x_1(t) \qquad &(5.9.29.d) \\ &y_2(t) = x_2(t) \qquad &(5.9.30.e) \end{aligned}
y1(t)=x1(t)y2(t)=x2(t)(5.9.29.d)(5.9.30.e)
(2)列写一阶微分方程
对于角度系统有:
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5.9.31
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\begin{aligned} I_x \ddot{A_x}(t) + K_1 \dot{A_x}(t) = M_x \qquad (5.9.31) \end{aligned}
IxAx¨(t)+K1Ax˙(t)=Mx(5.9.31)
式中
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\ddot{A_x}
Ax¨表示
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A_x
Ax关于时间的的二阶微分。
式(5.9.31)是一个二阶微分方程,要将其转化为二阶形式。即将式(5.9.29.a)、(5.9.29.b)、(5.9.29.c)代入式(5.9.31)得:
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5.9.32.
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5.9.32.
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\begin{aligned} &x_2(t) = \frac{\mathrm{d}x_1(t)}{\mathrm{d}t} \qquad & (5.9.32.a) \\ & I_x \frac{\mathrm{d}x_2(t)}{\mathrm{d}t} + K_1 x_2(t) = u_1(t) \qquad & (5.9.32.b) \end{aligned}
x2(t)=dtdx1(t)Ixdtdx2(t)+K1x2(t)=u1(t)(5.9.32.a)(5.9.32.b)
(3)整理成标准形式
要求一阶微分方程左侧只有单位系数的一阶微分项,状态变量与输入项放于右侧,则式(5.9.32)转化为:
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5.9.33.
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5.9.33.
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\begin{aligned} &\frac{\mathrm{d}x_1(t)}{\mathrm{d}t} = x_2(t) \qquad &(5.9.33.a) \\ & \frac{\mathrm{d}x_2(t)}{\mathrm{d}t} = - \frac{K_1}{I_x} x_2(t) + \frac{1}{I_x} u_1(t) \qquad & (5.9.33.b) \end{aligned}
dtdx1(t)=x2(t)dtdx2(t)=−IxK1x2(t)+Ix1u1(t)(5.9.33.a)(5.9.33.b)
(4)转化为矩阵形式
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[
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5.9.34.
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5.9.34.
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\begin{aligned} &\frac{\mathrm{d}}{\mathrel{d}t} \begin{bmatrix} x_1(t) \\ x_2(t) \end{bmatrix} = \begin{bmatrix} &0 &1 \\ &0 &-\frac{K_1}{I_x} \end{bmatrix} \begin{bmatrix} x_1(t) \\ x_2(t) \end{bmatrix} + \begin{bmatrix} 0\\ \frac{1}{I_x} \end{bmatrix} \begin{bmatrix} u_x(t) \end{bmatrix} \qquad & (5.9.34.a) \\ & \begin{bmatrix} y_1(t) \\ y_2(t) \end{bmatrix} = \begin{bmatrix} &1 &0 \\ &0 &1 \end{bmatrix} \begin{bmatrix} x_1(t) \\ x_2(t) \end{bmatrix} + \begin{bmatrix} 0 \\ 0 \end{bmatrix} \begin{bmatrix} u_1(t) \end{bmatrix} \qquad &(5.9.34.b) \end{aligned}
dtd[x1(t)x2(t)]=[001−IxK1][x1(t)x2(t)]+[0Ix1][ux(t)][y1(t)y2(t)]=[1001][x1(t)x2(t)]+[00][u1(t)](5.9.34.a)(5.9.34.b)
(5)提取矩阵
A = [ 0 1 0 − K 1 I x ] ( 5.9.35. a ) B = [ 0 1 I x ] ( 5.9.35. b ) C = [ 1 0 0 1 ] ( 5.9.35. c ) D = [ 0 0 ] ( 5.9.35. d ) u ( t ) = [ u 1 ( t ) ] T ( 5.9.35. e ) x ( t ) = [ x 1 ( t ) x 2 ( t ) ] T ( 5.9.35. f ) d x ( t ) d t = A x ( t ) + B u ( t ) ( 5.9.35. g ) y ( t ) = C x ( t ) + D u ( t ) ( 5.9.36. h ) \begin{aligned} &\boldsymbol{A} = \begin{bmatrix} &0 &1 \\ &0 &-\frac{K_1}{I_x} \end{bmatrix} & (5.9.35.a) \\ &\boldsymbol{B} = \begin{bmatrix} 0 \\ \frac{1}{I_x} \end{bmatrix} & (5.9.35.b) \\ &\boldsymbol{C} = \begin{bmatrix} &1 &0 \\ &0 &1 \end{bmatrix} & (5.9.35.c) \\ & \boldsymbol{D} = \begin{bmatrix} 0\\ 0 \end{bmatrix} & (5.9.35.d) \\ & \boldsymbol{u}(t) = \begin{bmatrix} u_1(t) \end{bmatrix}^{\mathrel{T}} & (5.9.35.e) \\ & \boldsymbol{x}(t) = \begin{bmatrix} x_1(t) \quad x_2(t) \end{bmatrix}^{\mathrm{T}} & (5.9.35.f) \\ &\frac{\mathrm{d}\boldsymbol{x}(t)}{\mathrm{d}t} = \boldsymbol{A} \boldsymbol{x}(t) + \boldsymbol{B} \boldsymbol{u}(t) & (5.9.35.g) \\ & \boldsymbol{y}(t) = \boldsymbol{C}\boldsymbol{x}(t) + \boldsymbol{D} \boldsymbol{u}(t) & (5.9.36.h) \end{aligned} A=[001−IxK1]B=[0Ix1]C=[1001]D=[00]u(t)=[u1(t)]Tx(t)=[x1(t)x2(t)]Tdtdx(t)=Ax(t)+Bu(t)y(t)=Cx(t)+Du(t)(5.9.35.a)(5.9.35.b)(5.9.35.c)(5.9.35.d)(5.9.35.e)(5.9.35.f)(5.9.35.g)(5.9.36.h)
至此便求解出了角度系统的状态空间方程。“A_2_PID控制转速例程”M_Four_turn_rotor.m 文件中将该方程用于PID控制仿真,可以发现其行21~24所用到的特征矩阵即此处的式(5.9.35.a)~(5.9.35.d)