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ke??s ?T1?T2? 4-5 H(s)?(T1s?1)(T2s?1)
y?(t)?y(t) 4-6 y(?)tT1tT2Ͱy(t)תʽʽ(4-5)ӦĽԾӦΪ
Ty?(t)?1?1eT2??T2eT2?T1? (4-7)
ʽ47ͿýԾӦϵ[t1, y*(t1)][t2, y*(t2)]ȷT1T2ϰϷֱȡy*(t)ֱ0.40.8ͿԴ϶t1t2Ӷọ́
t1T1t1T2T1eT1?T2T1eT1?T2
??T1T1?T2e??0.6 5-8
?t2T1?T1T1?T2e?t2T2?0.2 5-9
̣585-9ĽƽΪ
T1?T2?1(t1?t2) 5-10 2.16t?(1.741?0.55) 5-11
t2(T1?T2)2ݼӰĹҪֳʵʵԣһͶ백ҺϵͳȶвԣβˮPHֵĵڹ̻Ƴߡ
Ϊ㾫ȣDz3ֵֵֹʽбʣͨMatlabֵм㣬Ӷóбֵ3ֵֵֹʽʽ5-12ʾ
T1T2y0??3y(0)?4y(1)?y(2)2h?y(0)?y(2)2h 4-12
y?yi?y(i?2)?4y(i?1)?3y(i)2hi?2
УhΪڣy(i)Ϊi㴦ϵͳy(i)Ϊi㴦ߵбʡͼ4-1ʾ
ͼ4-1 ӰPHֵ仯ͼ
ͼ֪=100sKȡʽΪK=yޣ/x0
K=1.2t1?130st2?350s ʽ4-104-11
T1?197, T2?24
tڣ4-24-2ʾĶ1?0.38
t2tձ4-1ϵͳ϶ԣ1?0.46,˵ýԾӦҪ߽
t2Ĵݺϵøá
ʽ4-2ÿƶģΪ
H(s)?
1.2e100s4728s?221s?12
4.2 ҩģĽ
Ŀǰ,Ź̿ҪԶƼ,糧ҪԹ¯ˮļҩʵȫԶơݼӰIJͬ,Դ½ӰΪ: ˮӰ; ڸˮӰ; ۲ˮӰˮӰһˮóڵˮĸϣˮӰһڳĸܣˮӰһڲˮóڴ
ҪˮˮӰͼ5-2Ϊ¯ˮҩϵͳṹͼͼˮ촲núڼҩóڴ(ҩ)Ͱˮгֻϣһ;ˮͼӵٴμ백ˮڶ
㣬˲㴦ˮپӺΪյĹ¯ˮ
ˮͼˮҩˮҩڶԵӵһԵû촲¯ˮˮ
ͼ4-2 ҩϵͳͼ
ˮӰĿĿһʡúpH ֵΪ,Ӱλˮװõijˮĸܼ½УĿάָˮpHֵںʵķΧԷֹϵͳʴ,ֱʡúpH ֵΪƲ,ͺԭʹϵͳѴﵽĿЧ,һ㶼ˮpH ֵˮpHֵΪƲˮԼӰнϴӰ죬תΪҩĿƲֱȡˮ420 mA źźʡúڱȵȱźšϵͳźţPLCźſƱƵĤôﵽԶƼӰĿġԭͼ42ʾ
ģ㷨ҩĿģļҩϵͳṹͼ4-3
keʡúPHĿֵr-ed/dt~E~EC?ekecFuzzyģ㷨~ukuuFuzzypH ֵҩĸܼõƵ
ͼ4-3 ģԶҩϵͳṹͼ
ģĽ
(1) ȷģPID롢
ģṹΪһṹֱǣ EPH E=ʡúPH--PH ECPH仯
ǣ U Ƶת
41 ģб
Ա E EC U
ģΪ{-6-5-4-3-2-1 0 1 2 3, 4, 5, 6} ȷ˱ĻģҲȷˡȡʽ¡
[-3,+3]PH [-0.5,+0.5](PH/min)
[-100,+100] rpm
ֵ
{ NB,NM ,NS,ZE,PS,PM,PB } { NB,NM ,NS,ZE,PS,PM,PB } { NB,NM ,NS,ZE,PS,PM,PB }
?e??ec??u?nemax?6?23n6??12 ecmax0.5nemax?6?0.06100