假设被控对象特性可以使用以下的传递函数进行描述
G
(
s
)
=
a
s
2
+
b
s
+
1
G(s)=\frac{a}{s^2+bs+1}
G(s)=s2+bs+1a,其中a,b是符号已知的不确定参数，
G
m
(
s
)
=
k
s
2
+
2
s
+
1
G_m(s)=\frac{k}{s^2+2s+1}
Gm(s)=s2+2s+1k为参考模型，用MIT方案设计模型参考自适应控制器画出方框图。
解:
由
G
(
s
)
=
a
s
2
+
b
s
+
1
G(s)=\frac{a}{s^2+bs+1}
G(s)=s2+bs+1a，可以得到
y
m
¨
+
2
y
m
+
y
m
=
k
u
c
\ddot{y_m}+2y_m+y_m=ku_c
ym¨+2ym+ym=kuc,
由
G
m
(
s
)
=
k
s
2
+
2
s
+
1
G_m(s)=\frac{k}{s^2+2s+1}
Gm(s)=s2+2s+1k,可以得到
y
¨
+
b
y
˙
+
y
=
a
u
\ddot {y}+b\dot{y}+y=au
y¨+by˙+y=au,
令
u
=
θ
1
u
c
−
θ
2
y
u=\theta_1u_c-\theta_2y
u=θ1uc−θ2y，可以得到
y
¨
+
b
y
˙
+
y
=
a
(
θ
1
u
c
−
θ
2
y
)
\ddot {y}+b\dot{y}+y=a(\theta_1u_c-\theta_2y)
y¨+by˙+y=a(θ1uc−θ2y),
化简
y
¨
+
b
y
˙
+
(
1
+
a
θ
2
)
y
=
a
θ
1
u
c
\ddot {y}+b\dot{y}+(1+a\theta_2)y=a\theta_1u_c
y¨+by˙+(1+aθ2)y=aθ1uc,
y
m
¨
+
2
y
m
+
y
m
=
k
u
c
\ddot{y_m}+2y_m+y_m=ku_c
ym¨+2ym+ym=kuc,
比较系数
得到，
b
=
2
,
1
+
a
θ
2
=
1
,
a
θ
1
=
k
b=2,1+a\theta_2=1,a\theta_1=k
b=2,1+aθ2=1,aθ1=k,
令
e
=
y
−
y
m
e=y-y_m
e=y−ym,
e
¨
=
y
¨
−
y
m
¨
=
a
θ
1
u
c
−
(
+
b
y
˙
+
(
1
+
a
θ
2
)
y
)
−
k
u
c
+
(
2
y
m
+
y
m
)
=
−
b
e
˙
−
(
1
+
a
θ
2
)
e
+
(
a
−
b
)
y
m
˙
−
a
θ
2
y
m
+
(
a
θ
1
−
k
)
u
c
\ddot{e}=\ddot{y}-\ddot{y_m}=a\theta_1u_c-(+b\dot{y}+(1+a\theta_2)y)-ku_c+(2y_m+y_m)=-b\dot{e}-(1+a\theta_2)e+(a-b)\dot{y_m}-a\theta_2y_m+(a\theta_1-k)u_c
e¨=y¨−ym¨=aθ1uc−(+by˙+(1+aθ2)y)−kuc+(2ym+ym)=−be˙−(1+aθ2)e+(a−b)ym˙−aθ2ym+(aθ1−k)uc
∂
e
¨
∂
θ
1
=
−
b
∂
e
˙
∂
θ
1
−
(
1
+
a
θ
2
)
∂
e
∂
θ
1
+
a
u
c
,
(
s
2
+
b
s
+
1
+
a
θ
2
)
∂
e
∂
θ
1
=
a
u
c
\frac{\partial{\ddot{e}}}{\partial{\theta_1}}=-b\frac{\partial{\dot{e}}}{\partial{\theta_1}}-(1+a\theta_2)\frac{\partial{e}}{\partial{\theta_1}}+au_c,(s^2+bs+1+a\theta_2)\frac{\partial{e}}{\partial{\theta_1}}=au_c
∂θ1∂e¨=−b∂θ1∂e˙−(1+aθ2)∂θ1∂e+auc,(s2+bs+1+aθ2)∂θ1∂e=auc
∂
e
¨
∂
θ
2
=
−
b
∂
e
˙
∂
θ
2
−
(
1
+
a
θ
2
)
∂
e
∂
θ
2
−
a
y
,
(
s
2
+
b
s
+
1
+
a
θ
2
)
∂
e
∂
θ
2
=
−
a
y
\frac{\partial{\ddot{e}}}{\partial{\theta_2}}=-b\frac{\partial{\dot{e}}}{\partial{\theta_2}}-(1+a\theta_2)\frac{\partial{e}}{\partial{\theta_2}}-ay,(s^2+bs+1+a\theta_2)\frac{\partial{e}}{\partial{\theta_2}}=-ay
∂θ2∂e¨=−b∂θ2∂e˙−(1+aθ2)∂θ2∂e−ay,(s2+bs+1+aθ2)∂θ2∂e=−ay
∂
e
∂
θ
1
=
a
u
c
(
s
2
+
b
s
+
1
+
a
θ
2
)
,
∂
e
∂
θ
2
=
−
a
y
s
2
+
b
s
+
1
+
a
θ
2
\frac{\partial{e}}{\partial{\theta_1}}=\frac{au_c}{(s^2+bs+1+a\theta_2)},\frac{\partial{e}}{\partial{\theta_2}}=\frac{-ay}{s^2+bs+1+a\theta_2}
∂θ1∂e=(s2+bs+1+aθ2)auc,∂θ2∂e=s2+bs+1+aθ2−ay
θ
1
¨
=
−
γ
e
∂
e
∂
θ
1
=
−
γ
e
a
u
c
(
s
2
+
b
s
+
1
+
a
θ
2
)
\ddot{\theta_1}=-\gamma e\frac{\partial{e}}{\partial{\theta_1}}=-\gamma e\frac{au_c}{(s^2+bs+1+a\theta_2)}
θ1¨=−γe∂θ1∂e=−γe(s2+bs+1+aθ2)auc
θ
2
¨
=
−
γ
e
∂
e
∂
θ
2
=
−
γ
e
−
a
y
s
2
+
b
s
+
1
+
a
θ
2
\ddot{\theta_2}=-\gamma e\frac{\partial{e}}{\partial{\theta_2}}=-\gamma e\frac{-ay}{s^2+bs+1+a\theta_2}
θ2¨=−γe∂θ2∂e=−γes2+bs+1+aθ2−ay
5820
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
