1 / 8

Identifitseerimisega adaptiivsüsteemid Identification based adaptive systems

2. osa. Identifitseerimisega adaptiivsüsteemid Identification based adaptive systems teoreetiline materjal: prof. Ennu Rüstern’i loengumaterjal “Ülevaade adaptiivsüsteemidest”. S(z) R(z). B(z) A(z). T(z) R(z). Juhtimissüsteemi struktuurskeem / Structure of the control system.

urban
Download Presentation

Identifitseerimisega adaptiivsüsteemid Identification based adaptive systems

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. 2. osa Identifitseerimisega adaptiivsüsteemid Identification based adaptive systems teoreetiline materjal: prof. Ennu Rüstern’i loengumaterjal “Ülevaade adaptiivsüsteemidest”

  2. S(z) R(z) B(z) A(z) T(z) R(z) Juhtimissüsteemi struktuurskeem/ Structure of the control system Juhitav süsteem/ controlled system + w(k) y(k) u(k) - Lineaarne regulaator/ Linear controller

  3. Lineaarse süsteemi juhtimine/ Control of a Linear System Juhitav süsteem/ Controlled System: A(z)y(k)=B(z)u(k) Lineaarne regulaator/ Linear Controller: R(z)u(k)=T(z)w(k)-S(z)y(k) Etalonmudel/ Reference model: Am(z)ym(z)=Bm(z)w(k) Suletud süsteem/ closed loop system: Tingimused regulaatori sünteesiks/ controller design criteria:

  4. 2. järku lineaarse süsteemi juhtimine/ Control of a 2nd order linear discrete time system Juhitav süsteem/ Controlled System: A(z)= z2+a1z+a2 B(z)= b1z+b2 Etalonmudel/ Reference model: Am(z)=z2+am1z+am2 =(z-z1) (z-z2) Bm(z)=bm1z+bm2 Lineaarne regulaator/ Linear controller: T(z)= bm1/b1z+bm2/b1 R(z)= z+b2/b1 S(z)= (am1-a1) /b1z+ (am2-a2) /b1

  5. Rekurrentne hindaja/ Recurrent estimation Andmevektor/ Data vector: T(k)=-y(k-1),...,-y(k-n); u(k-d-1),...,u(k-d-m) Parameetrite vektor/ Parameter vector: Mudel/ Model: Parameetrite hindamine/ Parameterestimation: , Where K(k)=P(k)(k), P(k) ja P(k-1) on (n+m)*(n+m) parameetrite hinnangute kovariatsioonimaatriksid, K(k) on kaalukoefitsientide vektor,  on mälutegur (<1).

  6. 2. järku süsteemi parameetrite hindamine/ 2 order system’s parameters estimation Andmevektor/Data vector: T(k)=-y(k-1),-y(k-2); u(k-1),u(k-2) Parameetrite vektor/ Parameter vector: : Mudel/ Model: Parameetrite hindamine/ parameter estimation: , Kus K(k)=P(k)(k), P(k) ja P(k-1) on 4x4 parameetrite hinnangute kovariatsioonimaatriksid, K(k) on kaalukoefitsientide vektor,  on mälutegur (<1).

  7. Testobjekt /testplant

  8. S(z) R(z) B(z) A(z) T(z) R(z) Adaptiivse juhtimissüsteemi struktuurskeemAdaptive control Mudel/model + w(k) y(k) Juhitav süsteem/ controlled system u(k) - Mudel/ model Lineaarne regulaator linear controller Mudel/ model

More Related