自控系统各种标准型整理(附例题)
1. 状态空间相关知识铺垫
在阅读本文之前,默认读者已经知晓状态空间的相关知识,包括:
- 状态空间的表达形式不止一种,可以在 x ~ = T x \tilde x = Tx x~=Tx的基础上进行变换;
- 状态空间是用来研究系统动态过程内部变量的一种手段,其所选取的状态变量 x i x_i xi的方式不止一种;
- 系统中所有状态变量 x i x_i xi并不是必须具有物理意义,有时只是为了数学表示方便而设立;同样也并不是每个状态变量都会被观测或测量到。
本文的所有状态空间表达式,都是基于如下微分方程建立的:
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y^{(n)} + a_{n-1} y^{(n-1)} + a_{n-2} y^{(n-2)} + \cdots + a_2 \ddot y + a_1 \dot y + a_0 y = \\ b_n u^{(n)} + b_{n-1} u^{(n-1)} + \cdots + b_1 \dot u + b_0 u \tag{1}
y(n)+an−1y(n−1)+an−2y(n−2)+⋯+a2y¨+a1y˙+a0y=bnu(n)+bn−1u(n−1)+⋯+b1u˙+b0u(1)注意,上式中,
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而目的是将其写成如下状态空间形式:
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\dot {\bm X} = {\bm A} {\bm X} + {\bm B} {\bm U} \\ {\bm Y} = {\bm C} {\bm X} + {\bm D} {\bm U}
X˙=AX+BUY=CX+DU
2. 系统输入量中【不含有】导数项
即式(1)右端仅含
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y^{(n)} + a_{n-1} y^{(n-1)} + a_{n-2} y^{(n-2)} + \cdots + a_2 \ddot y + a_1 \dot y + a_0 y = b_0 u \tag{2}
y(n)+an−1y(n−1)+an−2y(n−2)+⋯+a2y¨+a1y˙+a0y=b0u(2)此时状态量选择为:
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\begin{cases} \dot x_1 = x_2 \\ \dot x_2 = x_3 \\ \vdots \\ \dot x_{n-1} = x_n \\ \dot x_n = -a_0 x_1 - a_1 x_2 - \cdots - a_{n-1} x_n + b_0 u \\ y = x_1 \end{cases}
⎩
⎨
⎧x˙1=x2x˙2=x3⋮x˙n−1=xnx˙n=−a0x1−a1x2−⋯−an−1xn+b0uy=x1其状态空间矩阵为:
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{\bm A} = \left[ \begin{matrix} 0 & 1 & 0 & \cdots & 0 \\ 0 & 0 & 1 & \cdots & 0 \\ \vdots & \vdots & \vdots & \ddots & \vdots \\ 0 & 0 & 0 & \cdots & 1 \\ -a_0 & -a_1 & -a_2 & \cdots & -a_{n-1} \end{matrix} \right]
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{\bm B} = \left[ \begin{matrix} 0 \\ 0 \\ \vdots \\ 0 \\ b_0 \end{matrix} \right], \quad {\bm C} = \left[ \begin{matrix} 1 & 0 & \cdots & 0 \end{matrix} \right], \quad {\bm D} = 0 \tag{3}
B=
00⋮0b0
,C=[10⋯0],D=0(3)
3. 系统输入量中【含有】导数项
此时系统的微分方程即具有式(1)的形式:
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y^{(n)} + a_{n-1} y^{(n-1)} + a_{n-2} y^{(n-2)} + \cdots + a_2 \ddot y + a_1 \dot y + a_0 y = \\ b_n u^{(n)} + b_{n-1} u^{(n-1)} + \cdots + b_1 \dot u + b_0 u \tag{1}
y(n)+an−1y(n−1)+an−2y(n−2)+⋯+a2y¨+a1y˙+a0y=bnu(n)+bn−1u(n−1)+⋯+b1u˙+b0u(1)此时状态量选择为:
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\begin{cases} \dot x_1 = x_2 + h_1 u \\ \dot x_2 = x_3 + h_2 u \\ \vdots \\ \dot x_{n-1} = x_n + h_{n-1} u \\ \dot x_n = -a_0 x_1 - a_1 x_2 - \cdots - a_{n-1} x_n + h_n u \\ y = x_1 + h_0 u \end{cases}
⎩
⎨
⎧x˙1=x2+h1ux˙2=x3+h2u⋮x˙n−1=xn+hn−1ux˙n=−a0x1−a1x2−⋯−an−1xn+hnuy=x1+h0u其中的新参数
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hi为:
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(4)
h_0 = b_n \\ h_i = b_{n-i} - \sum _{j=1} ^i a_{n-j} h_{i-j} \tag{4}
h0=bnhi=bn−i−j=1∑ian−jhi−j(4)其状态空间矩阵为:
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{\bm A} = \left[ \begin{matrix} 0 & 1 & 0 & \cdots & 0 \\ 0 & 0 & 1 & \cdots & 0 \\ \vdots & \vdots & \vdots & \ddots & \vdots \\ 0 & 0 & 0 & \cdots & 1 \\ -a_0 & -a_1 & -a_2 & \cdots & -a_{n-1} \end{matrix} \right]
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(5)
{\bm B} = \left[ \begin{matrix} h_1 \\ h_2 \\ \vdots \\ h_{n-1} \\ h_n \end{matrix} \right], \quad {\bm C} = \left[ \begin{matrix} 1 & 0 & \cdots & 0 \end{matrix} \right], \quad {\bm D} = h_0 \tag{5}
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h1h2⋮hn−1hn
,C=[10⋯0],D=h0(5)可见矩阵
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{\bm A}
A与式(3)中的一样。
4. 系统输入量中【含有】导数项,但 b n = 0 {\bm b}_{\bm n} {\bm =} {\bm 0} bn=0
此时系统的微分方程(1)右端从
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b_{n-1} u^{(n-1)}
bn−1u(n−1)开始:
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y^{(n)} + a_{n-1} y^{(n-1)} + a_{n-2} y^{(n-2)} + \cdots + a_2 \ddot y + a_1 \dot y + a_0 y = \\ b_{n-1} u^{(n-1)} + \cdots + b_1 \dot u + b_0 u \tag{1}
y(n)+an−1y(n−1)+an−2y(n−2)+⋯+a2y¨+a1y˙+a0y=bn−1u(n−1)+⋯+b1u˙+b0u(1)代入式(4)很容易知道,
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h0=0,则此时可以按照如下规则,选取新的一组状态变量:
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\begin{cases} \dot x_1 = -a_0 x_n + b_0 u \\ \dot x_2 = x_1 - a_1 x_n + b_1 u \\ \vdots \\ \dot x_{n-1} = x_{n-2} - a_{n-2} x_n + b_{n-2} u \\ \dot x_n = x_{n-1} - a_{n-1} x_n + b_{n-1} u \\ y = x_n \end{cases}
⎩
⎨
⎧x˙1=−a0xn+b0ux˙2=x1−a1xn+b1u⋮x˙n−1=xn−2−an−2xn+bn−2ux˙n=xn−1−an−1xn+bn−1uy=xn其状态空间矩阵为:
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{\bm A} = \left[ \begin{matrix} 0 & 0 & \cdots & 0 & -a_0 \\ 1 & 0 & \cdots & 0 & -a_1 \\ 0 & 1 & \cdots & 0 & -a_2 \\ \vdots & \vdots & \ddots & \vdots & \vdots \\ 0 & 0 & \cdots & 1 & -a_{n-1} \end{matrix} \right]
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(6)
{\bm B} = \left[ \begin{matrix} b_0 \\ b_1 \\ \vdots \\ b_{n-1} \end{matrix} \right], \quad {\bm C} = \left[ \begin{matrix} 0 & 0 & \cdots & 1 \end{matrix} \right], \quad {\bm D} = 0 \tag{6}
B=
b0b1⋮bn−1
,C=[00⋯1],D=0(6)
5. 可控标准型
此时系统的微分方程即具有式(1)的形式:
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(1)
y^{(n)} + a_{n-1} y^{(n-1)} + a_{n-2} y^{(n-2)} + \cdots + a_2 \ddot y + a_1 \dot y + a_0 y = \\ b_n u^{(n)} + b_{n-1} u^{(n-1)} + \cdots + b_1 \dot u + b_0 u \tag{1}
y(n)+an−1y(n−1)+an−2y(n−2)+⋯+a2y¨+a1y˙+a0y=bnu(n)+bn−1u(n−1)+⋯+b1u˙+b0u(1)此时状态量选择为:
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\begin{cases} \dot x_1 = x_2 \\ \dot x_2 = x_3 \\ \vdots \\ \dot x_n = -a_0 x_1 - a_1 x_2 - \cdots - a_{n-1} x_n + u \\ y = -\beta_0 x_1 - \beta_1 x_2 - \cdots - \beta_{n-1} x_n \end{cases}
⎩
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⎧x˙1=x2x˙2=x3⋮x˙n=−a0x1−a1x2−⋯−an−1xn+uy=−β0x1−β1x2−⋯−βn−1xn其中的新参数
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\beta_i
βi为:
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(7)
\begin{cases} \beta_0 = b_0 - a_0 b_n \\ \beta_1 = b_1 - a_1 b_n \\ \vdots \\ \beta_i = b_i - a_i b_n \\ \vdots \\ \beta_{n-2} = b_{n-2} - a_{n-2} b_n \\ \beta_{n-1} = b_{n-1} - a_{n-1} b_n \end{cases} \tag{7}
⎩
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⎧β0=b0−a0bnβ1=b1−a1bn⋮βi=bi−aibn⋮βn−2=bn−2−an−2bnβn−1=bn−1−an−1bn(7)其状态空间矩阵为:
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{\bm A} = \left[ \begin{matrix} 0 & 1 & 0 & \cdots & 0 \\ 0 & 0 & 1 & \cdots & 0 \\ \vdots & \vdots & \vdots & \ddots & \vdots \\ 0 & 0 & 0 & \cdots & 1 \\ -a_0 & -a_1 & -a_2 & \cdots & -a_{n-1} \end{matrix} \right]
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(8)
{\bm B} = \left[ \begin{matrix} 0 \\ 0 \\ \vdots \\ 0 \\ 1 \end{matrix} \right], \quad {\bm C} = \left[ \begin{matrix} \beta_0 & \beta_1 & \cdots & \beta_{n-1} \end{matrix} \right], \quad {\bm D} = 0 \tag{8}
B=
00⋮01
,C=[β0β1⋯βn−1],D=0(8)
6. 可观标准型
可观标准型即为可控标准型的转置:
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{\bm A_c} = {\bm A_o}^T, {\bm B_c} = {\bm C_o}^T, {\bm C_c} = {\bm B_o}^T
Ac=AoT,Bc=CoT,Cc=BoT其中下标
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c,o分别表示可控和可观矩阵。由此得到:
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{\bm A} = \left[ \begin{matrix} 0 & 0 & \cdots & 0 & -a_0 \\ 1 & 0 & \cdots & 0 & -a_1 \\ 0 & 1 & \cdots & 0 & -a_2 \\ \vdots & \vdots & \ddots & \vdots & \vdots \\ 0 & 0 & \cdots & 1 & -a_{n-1} \end{matrix} \right]
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(9)
{\bm B} = \left[ \begin{matrix} \beta_0 \\ \beta_1 \\ \beta_2 \\ \vdots \\ \beta_{n-1} \end{matrix} \right], \quad {\bm C} = \left[ \begin{matrix} 0 & 0 & \cdots & 1 \end{matrix} \right], \quad {\bm D} = 0 \tag{9}
B=
β0β1β2⋮βn−1
,C=[00⋯1],D=0(9)
7. 传递函数特征方程【无重根时】的约当型
注意:此类型只能在传递函数的特征方程没有重根时使用!
根据状态变量的选取方式不同,一般约当型有2种表达方式。
由式(1)可以写出复平面内的传递函数关系式:
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W(s) = \frac{ b_n s^n + b_{n-1} s^{n-1} + \cdots + b_1 s + b_0 }{ s^n + a_{n-1} s^{n-1} + \cdots + a_1 s + a_0 } = \frac{ N(s) }{ D(s) }
W(s)=sn+an−1sn−1+⋯+a1s+a0bnsn+bn−1sn−1+⋯+b1s+b0=D(s)N(s)其中
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D(s)=0是传递函数的特征方程,其特征根为
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D(s) = \left(s - \lambda_1 \right) \left(s - \lambda_2 \right) \cdots \left(s - \lambda_n \right)
D(s)=(s−λ1)(s−λ2)⋯(s−λn)此时传递函数即:
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−
λ
2
)
⋯
(
s
−
λ
n
)
W(s) = \frac{ N(s) }{ D(s) } = \frac{ b_n s^n + b_{n-1} s^{n-1} + \cdots + b_1 s + b_0 }{ \left(s - \lambda_1 \right) \left(s - \lambda_2 \right) \cdots \left(s - \lambda_n \right) }
W(s)=D(s)N(s)=(s−λ1)(s−λ2)⋯(s−λn)bnsn+bn−1sn−1+⋯+b1s+b0展开即得:
W
(
s
)
=
N
(
s
)
D
(
s
)
=
Y
(
s
)
U
(
s
)
=
∑
i
=
1
n
c
i
s
−
λ
i
(10)
W(s) = \frac{ N(s) }{ D(s) } = \frac{ Y(s) }{ U(s) } = \sum _{i=1} ^n \frac{ c_i }{ s - \lambda_i } \tag{10}
W(s)=D(s)N(s)=U(s)Y(s)=i=1∑ns−λici(10)其中
c
i
c_i
ci为传递函数
W
(
s
)
W(s)
W(s)在极点
λ
i
\lambda_i
λi处的留数:
c
i
=
(
s
−
λ
i
)
W
(
s
)
∣
s
=
λ
i
(11)
c_i = \left(s - \lambda_i \right) W(s) \Big\rvert _{s = \lambda_i} \tag{11}
ci=(s−λi)W(s)
s=λi(11)从而
Y
(
s
)
=
∑
i
=
1
n
c
i
s
−
λ
i
U
(
s
)
Y(s) = \sum _{i=1} ^n \frac{ c_i }{ s - \lambda_i } U(s)
Y(s)=i=1∑ns−λiciU(s)
7.1 第一型
设状态变量为
X
i
(
s
)
=
1
s
−
λ
i
U
(
s
)
X_i(s) = \frac{1}{s - \lambda_i} U(s)
Xi(s)=s−λi1U(s)则有
{
x
˙
1
=
λ
1
x
1
+
u
x
˙
2
=
λ
2
x
2
+
u
⋮
x
˙
n
=
λ
n
x
n
+
u
y
=
c
1
x
1
+
c
2
x
2
+
⋯
+
c
n
x
n
\begin{cases} \dot x_1 = \lambda_1 x_1 + u \\ \dot x_2 = \lambda_2 x_2 + u \\ \vdots \\ \dot x_n = \lambda_n x_n + u \\ y = c_1 x_1 + c_2 x_2 + \cdots + c_n x_n \end{cases}
⎩
⎨
⎧x˙1=λ1x1+ux˙2=λ2x2+u⋮x˙n=λnxn+uy=c1x1+c2x2+⋯+cnxn其状态空间矩阵为:
A
=
[
λ
1
λ
2
⋱
λ
n
−
1
λ
n
]
{\bm A} = \left[ \begin{matrix} \lambda_1 & & & & \\ & \lambda_2 & & & \\ & & \ddots & & \\ & & & \lambda_{n-1} & \\ & & & & \lambda_n \end{matrix} \right]
A=
λ1λ2⋱λn−1λn
B
=
[
1
1
⋮
1
1
]
,
C
=
[
c
1
c
2
⋯
c
n
]
,
D
=
0
(12)
{\bm B} = \left[ \begin{matrix} 1 \\ 1 \\ \vdots \\ 1 \\ 1 \end{matrix} \right], \quad {\bm C} = \left[ \begin{matrix} c_1 & c_2 & \cdots & c_n \end{matrix} \right], \quad {\bm D} = 0 \tag{12}
B=
11⋮11
,C=[c1c2⋯cn],D=0(12)其中
A
{\bm A}
A为对角矩阵,主对角线上元素为所有特征根
λ
i
\lambda_i
λi,而其余元素均为0。
7.2 第二型
设状态变量为
X
i
(
s
)
=
c
i
s
−
λ
i
U
(
s
)
X_i(s) = \frac{c_i}{s - \lambda_i} U(s)
Xi(s)=s−λiciU(s)与第一型相比,
X
i
(
s
)
X_i(s)
Xi(s)的分子不再是1而是
c
i
c_i
ci。则有
{
x
˙
1
=
λ
1
x
1
+
c
1
u
x
˙
2
=
λ
2
x
2
+
c
2
u
⋮
x
˙
n
=
λ
n
x
n
+
c
n
u
y
=
x
1
+
x
2
+
⋯
+
x
n
\begin{cases} \dot x_1 = \lambda_1 x_1 + c_1 u \\ \dot x_2 = \lambda_2 x_2 + c_2 u \\ \vdots \\ \dot x_n = \lambda_n x_n + c_n u \\ y = x_1 + x_2 + \cdots + x_n \end{cases}
⎩
⎨
⎧x˙1=λ1x1+c1ux˙2=λ2x2+c2u⋮x˙n=λnxn+cnuy=x1+x2+⋯+xn其状态空间矩阵为:
A
=
[
λ
1
λ
2
⋱
λ
n
−
1
λ
n
]
{\bm A} = \left[ \begin{matrix} \lambda_1 & & & & \\ & \lambda_2 & & & \\ & & \ddots & & \\ & & & \lambda_{n-1} & \\ & & & & \lambda_n \end{matrix} \right]
A=
λ1λ2⋱λn−1λn
B
=
[
c
1
c
2
⋮
c
n
−
1
c
n
]
,
C
=
[
1
1
⋯
1
]
,
D
=
0
(13)
{\bm B} = \left[ \begin{matrix} c_1 \\ c_2 \\ \vdots \\ c_{n-1} \\ c_n \end{matrix} \right], \quad {\bm C} = \left[ \begin{matrix} 1 & 1 & \cdots & 1 \end{matrix} \right], \quad {\bm D} = 0 \tag{13}
B=
c1c2⋮cn−1cn
,C=[11⋯1],D=0(13)其中
A
{\bm A}
A为对角矩阵,与第一型相同。
8. 传递函数特征方程【有重根时】的约当型
这里以一个含有三重根的特征方程为例。设此时的特征方程为
D
(
s
)
=
(
s
−
λ
1
)
3
(
s
−
λ
4
)
⋯
(
s
−
λ
n
)
D(s) = \left(s - \lambda_1 \right) ^3 \left(s - \lambda_4 \right) \cdots \left(s - \lambda_n \right)
D(s)=(s−λ1)3(s−λ4)⋯(s−λn)其中
λ
1
\lambda_1
λ1为三重实极点,其余
λ
i
(
i
≠
1
)
\lambda_i ( i \neq 1)
λi(i=1)为单实极点。则传递函数此时可以分解为:
W
(
s
)
=
N
(
s
)
D
(
s
)
=
Y
(
s
)
U
(
s
)
=
c
11
(
s
−
λ
1
)
3
+
c
12
(
s
−
λ
1
)
2
+
c
13
(
s
−
λ
1
)
+
∑
i
=
4
n
c
i
s
−
λ
i
(14)
W(s) = \frac{ N(s) }{ D(s) } = \frac{ Y(s) }{ U(s) } = \frac{ c_{11} }{ \left(s - \lambda_1 \right)^3 } + \frac{ c_{12} }{ \left(s - \lambda_1 \right)^2 } + \frac{ c_{13} }{ \left(s - \lambda_1 \right) } + \sum_{i=4} ^n \frac{ c_i} {s - \lambda_i } \tag{14}
W(s)=D(s)N(s)=U(s)Y(s)=(s−λ1)3c11+(s−λ1)2c12+(s−λ1)c13+i=4∑ns−λici(14)其状态变量选取方法和第一型、第二型相同。此时的状态空间矩阵为:
A
=
[
λ
1
1
λ
1
1
0
λ
1
λ
4
0
⋱
λ
n
]
,
B
=
[
0
0
1
1
⋮
1
]
{\bm A} = \left[ \begin{array}{ c c c | c c c } \lambda_1 & 1 & {} & {} & {} & {} \\ {} & \lambda_1 & 1 & {} & {\bm 0} & {} \\ {} & {} & \lambda_1 & {} & {} & {} \\ \hline {} & {} & {} & \lambda_4 & {} & {} \\ {} & {\bm 0} & {} & {} & \ddots & {} \\ {} & {} & {} & {} & {} & \lambda_n \\ \end{array} \right], \quad {\bm B} = \left[ \begin{array}{ c } 0 \\ 0 \\ 1 \\ \hline 1 \\ \vdots \\ 1 \end{array} \right]
A=
λ11λ101λ1λ40⋱λn
,B=
0011⋮1
C
=
[
c
11
c
12
c
13
c
4
⋯
c
n
]
,
D
=
0
(15)
{\bm C} = \left[ \begin{array}{ c c c | c c c } c_{11} & c_{12} & c_{13} & c_4 & \cdots & c_n \end{array} \right], \quad {\bm D} = 0 \tag{15}
C=[c11c12c13c4⋯cn],D=0(15)或者如下形式亦可:
A
=
[
λ
1
1
λ
1
0
1
λ
1
λ
4
0
⋱
λ
n
]
,
B
=
[
c
11
c
12
c
13
c
4
⋮
c
n
]
{\bm A} = \left[ \begin{array}{ c c c | c c c } \lambda_1 & {} & {} & {} & {} & {} \\ 1 & \lambda_1 & {} & {} & {\bm 0} & {} \\ {} & 1 & \lambda_1 & {} & {} & {} \\ \hline {} & {} & {} & \lambda_4 & {} & {} \\ {} & {\bm 0} & {} & {} & \ddots & {} \\ {} & {} & {} & {} & {} & \lambda_n \\ \end{array} \right], \quad {\bm B} = \left[ \begin{array}{ c } c_{11} \\ c_{12} \\ c_{13} \\ \hline c_4 \\ \vdots \\ c_n \end{array} \right]
A=
λ11λ110λ1λ40⋱λn
,B=
c11c12c13c4⋮cn
C
=
[
0
0
1
1
⋯
1
]
,
D
=
0
(16)
{\bm C} = \left[ \begin{array}{ c c c | c c c } 0 & 0 & 1 & 1 & \cdots & 1 \end{array} \right], \quad {\bm D} = 0 \tag{16}
C=[0011⋯1],D=0(16)应当解释的是,在式(15)和(16)中,
A
{\bm A}
A不再是完全的对角阵,由于重根
λ
1
\lambda_1
λ1的存在,
λ
1
\lambda_1
λ1在
A
{\bm A}
A中对应有一个子块,其内部为上三角或下三角的带有1的矩阵(如
A
{\bm A}
A左上角的子块)。除此之外,在B或C中,与之对应的也有其留数的子块。
A
{\bm A}
A、
B
{\bm B}
B、
C
{\bm C}
C中的子块阶数均与
λ
1
\lambda_1
λ1的重数相同,如本例中
λ
1
\lambda_1
λ1为三重根,则
A
{\bm A}
A左上角的子块为三阶,
B
{\bm B}
B、
C
{\bm C}
C中的子块也为三阶。本文均以细线将子块分隔出以便标明。
9. 例题
9.1 系统输入量中【不含有】导数项
设系统的微分方程为
y
(
3
)
+
2
y
¨
+
5
y
˙
+
2
y
=
2
u
y^{(3)} + 2 \ddot y + 5 \dot y + 2y= 2u
y(3)+2y¨+5y˙+2y=2u可见
n
=
3
n=3
n=3,则其系数可以立即写出:
a
0
=
2
,
a
1
=
5
,
a
2
=
2
,
a
3
=
1
;
b
0
=
2
a_0 = 2, a_1 = 5, a_2 = 2, a_3 = 1;b_0 = 2
a0=2,a1=5,a2=2,a3=1;b0=2。代入式(3)有:
A
=
[
0
1
0
0
0
1
−
2
−
5
−
2
]
{\bm A} = \left[ \begin{matrix} 0 & 1 & 0 \\ 0 & 0 & 1 \\ -2 & -5 & -2 \end{matrix} \right]
A=
00−210−501−2
B
=
[
0
0
b
0
]
,
C
=
[
1
0
0
]
,
D
=
0
{\bm B} = \left[ \begin{matrix} 0 \\ 0 \\ b_0 \end{matrix} \right], \quad {\bm C} = \left[ \begin{matrix} 1 & 0 & 0 \end{matrix} \right], \quad {\bm D} = 0
B=
00b0
,C=[100],D=0
9.2 系统输入量中【含有】导数项
设系统的微分方程为
y
(
3
)
+
2
y
¨
+
5
y
˙
+
2
y
=
2
u
¨
+
3
u
˙
+
u
y^{(3)} + 2 \ddot y + 5 \dot y + 2y= 2 \ddot u +3 \dot u + u
y(3)+2y¨+5y˙+2y=2u¨+3u˙+u可见
n
=
3
n=3
n=3,则其系数可以立即写出:
a
0
=
2
,
a
1
=
5
,
a
2
=
2
,
a
3
=
1
;
b
0
=
1
,
b
1
=
3
,
b
2
=
2
,
b
3
=
0
a_0 = 2, a_1 = 5, a_2 = 2, a_3 = 1;b_0 = 1, b_1 = 3, b_2 = 2, b_3 = 0
a0=2,a1=5,a2=2,a3=1;b0=1,b1=3,b2=2,b3=0。代入式(4)先计算
h
i
h_i
hi:
h
i
=
b
n
−
i
−
∑
j
=
1
i
a
n
−
j
h
i
−
j
⟹
h
0
=
b
n
=
b
3
=
0
,
h
1
=
b
3
−
1
−
∑
j
=
1
1
a
3
−
j
h
1
−
j
=
b
2
−
a
2
h
0
=
2
,
h
2
=
b
3
−
2
−
∑
j
=
1
2
a
3
−
j
h
2
−
j
=
b
1
−
a
2
h
1
−
a
1
h
0
=
3
−
2
×
2
=
−
1
h
3
=
b
3
−
3
−
∑
j
=
1
3
a
3
−
j
h
3
−
j
=
b
0
−
a
2
h
2
−
a
1
h
1
−
a
0
h
0
=
1
+
2
×
1
−
5
×
2
=
−
7
h_i = b_{n-i} - \sum _{j=1} ^i a_{n-j} h_{i-j} \Longrightarrow \\ h_0 = b_n = b_3 = 0, \\ h_1 = b_{3-1} - \sum _{j=1} ^1 a_{3-j} h_{1-j} = b_2 - a_2 h_0 = 2, \\ h_2 = b_{3-2} - \sum _{j=1} ^2 a_{3-j} h_{2-j} = b_1 - a_2 h_1 - a_1 h_0 = 3 - 2 \times 2 = -1 \\ h_3 = b_{3-3} - \sum _{j=1} ^3 a_{3-j} h_{3-j} = b_0 - a_2 h_2 - a_1 h_1 - a_0 h_0 = 1 + 2 \times 1 - 5 \times 2 = -7
hi=bn−i−j=1∑ian−jhi−j⟹h0=bn=b3=0,h1=b3−1−j=1∑1a3−jh1−j=b2−a2h0=2,h2=b3−2−j=1∑2a3−jh2−j=b1−a2h1−a1h0=3−2×2=−1h3=b3−3−j=1∑3a3−jh3−j=b0−a2h2−a1h1−a0h0=1+2×1−5×2=−7代入式(5)有:
其状态空间矩阵为:
A
=
[
0
1
0
0
0
1
−
2
−
5
−
2
]
{\bm A} = \left[ \begin{matrix} 0 & 1 & 0 \\ 0 & 0 & 1 \\ -2 & -5 & -2 \end{matrix} \right]
A=
00−210−501−2
B
=
[
h
1
h
2
h
3
]
=
[
2
−
1
−
7
]
,
C
=
[
1
0
⋯
0
]
,
D
=
h
0
=
0
{\bm B} = \left[ \begin{matrix} h_1 \\ h_2 \\ h_3 \end{matrix} \right] = \left[ \begin{matrix} 2 \\ -1 \\ -7 \end{matrix} \right], \quad {\bm C} = \left[ \begin{matrix} 1 & 0 & \cdots & 0 \end{matrix} \right], \quad {\bm D} = h_0 = 0
B=
h1h2h3
=
2−1−7
,C=[10⋯0],D=h0=0
9.3 系统输入量中【含有】导数项,但 b n = 0 {\bm b}_{\bm n} {\bm =} {\bm 0} bn=0
仍以9.3中微分方程为例,注意到其
b
n
=
b
3
=
0
b_n = b_3 = 0
bn=b3=0。那么可以代入式(6):
A
=
[
0
0
−
2
1
0
−
5
0
1
−
2
]
{\bm A} = \left[ \begin{matrix} 0 & 0 & -2 \\ 1 & 0 & -5 \\ 0 & 1 & -2 \\ \end{matrix} \right]
A=
010001−2−5−2
B
=
[
b
0
b
1
⋮
b
n
−
1
]
=
[
1
3
2
]
,
C
=
[
0
0
⋯
1
]
,
D
=
0
(6)
{\bm B} = \left[ \begin{matrix} b_0 \\ b_1 \\ \vdots \\ b_{n-1} \end{matrix} \right] = \left[ \begin{matrix} 1 \\ 3 \\ 2 \end{matrix} \right], \quad {\bm C} = \left[ \begin{matrix} 0 & 0 & \cdots & 1 \end{matrix} \right], \quad {\bm D} = 0 \tag{6}
B=
b0b1⋮bn−1
=
132
,C=[00⋯1],D=0(6)
9.4 可控标准型
设系统微分方程为:
y
(
3
)
+
2
y
¨
+
3
y
˙
+
3
y
=
2
u
(
3
)
+
u
¨
+
3
u
˙
+
4
u
y^{(3)} + 2 \ddot y + 3 \dot y + 3y = 2 u^{(3)} + \ddot u + 3 \dot u + 4u
y(3)+2y¨+3y˙+3y=2u(3)+u¨+3u˙+4u可见
n
=
3
,
a
0
=
3
,
a
1
=
3
,
a
2
=
2
,
a
3
=
1
;
b
0
=
4
,
b
1
=
3
,
b
2
=
1
,
b
3
=
2
n=3, a_0 = 3, a_1 = 3, a_2 = 2, a_3 = 1; b_0 = 4, b_1 = 3, b_2 = 1, b_3 = 2
n=3,a0=3,a1=3,a2=2,a3=1;b0=4,b1=3,b2=1,b3=2。代入式(7)计算参数
β
i
\beta_i
βi:
{
β
0
=
b
0
−
a
0
b
n
=
4
−
3
×
2
=
−
2
,
β
1
=
b
1
−
a
1
b
n
=
3
−
3
×
2
=
−
3
,
β
2
=
b
2
−
a
2
b
n
=
1
−
2
×
2
=
−
3
(7)
\begin{cases} \beta_0 = b_0 - a_0 b_n = 4 - 3 \times 2 = -2, \\ \beta_1 = b_1 - a_1 b_n = 3 - 3 \times 2 = -3, \\ \beta_2 = b_2 - a_2 b_n = 1 - 2 \times 2 = -3 \end{cases} \tag{7}
⎩
⎨
⎧β0=b0−a0bn=4−3×2=−2,β1=b1−a1bn=3−3×2=−3,β2=b2−a2bn=1−2×2=−3(7)再代入式(8)即得:
A
=
[
0
1
0
0
0
1
−
3
−
3
−
2
]
{\bm A} = \left[ \begin{matrix} 0 & 1 & 0 \\ 0 & 0 & 1 \\ -3 & -3 & -2 \end{matrix} \right]
A=
00−310−301−2
B
=
[
0
0
1
]
,
C
=
[
−
2
−
3
−
3
]
,
D
=
0
(8)
{\bm B} = \left[ \begin{matrix} 0 \\ 0 \\ 1 \end{matrix} \right], \quad {\bm C} = \left[ \begin{matrix} -2 & -3 & -3 \end{matrix} \right], \quad {\bm D} = 0 \tag{8}
B=
001
,C=[−2−3−3],D=0(8)
9.5 可观标准型
由于可观标准型即为可控标准型的转置,则可以立即写出:
A
=
[
0
0
−
3
1
0
−
3
0
1
−
2
]
{\bm A} = \left[ \begin{matrix} 0 & 0 & -3 \\ 1 & 0 & -3 \\ 0 & 1 & -2 \end{matrix} \right]
A=
010001−3−3−2
B
=
[
−
2
−
3
−
3
]
,
C
=
[
0
0
1
]
,
D
=
0
(8)
{\bm B} = \left[ \begin{matrix} -2 \\ -3 \\ -3 \end{matrix} \right], \quad {\bm C} = \left[ \begin{matrix} 0 & 0 & 1 \end{matrix} \right], \quad {\bm D} = 0 \tag{8}
B=
−2−3−3
,C=[001],D=0(8)