Mikroupologistc

kai

Yhfiakc

'Elegqoc

()

Broqdhc Kwnstantnoc mc08006 Aprlioc 2012

Eisagwg
To prblhma pou antimetwpzoume afor ton legqo jshc mac thlepikoinwniakc do antnnac pou pou odhgetai to ap nan kinhtra suneqoc rematoc. Oi

exisseic

dipoun

ssthma

enai,

u=Ri+L
kai

di + Kem dt

(1)

Kem i = b + J
pou,

(2)

u R = 2 Ohm: i L = 0.3 mH: Kem = 60 mN m/A: J = 100 kgm2 :

: h tsh sta kra H : to ruma pou H : h gwniak xona tou kinhtra,

tou

kinhtra tou

(esodoc),

antstash diarrei

kinhtra,

ton

kinhtra, tou kinhtra, ropc tou kinhtra,

autepagwg H

stajer

apklish

tou

kinhtra,

H anaklmenh rop adrneiac lou tou sustmatoc met ton

b = 0.287 mN m s/rad:
tou sustmatoc met ton

anaklmenoc tou

suntelestc

ixdouc

tribc

lou

xona

kinhtra.

Ap

tic

diaforikc

exisseic

kai

prokptoun

oi

akloujec

exisseic

ka-

tstashc,

x1 R/L x2 = 0 x3 Kem /J

x1 1/L 0 Kem /L x2 + 0 u 0 1 0 b x3 0
A B

y=

0 1 0
C

x1 x2 x3 i

pou,

x1 x = x2 = x3

Mroc

Analogik Sqedash me Bltisto 'Elegqo

Bltistoc nmoc andrashc

Stqoc mac enai na breje o bltistoc nmoc andrashc pou ja elaqisto-

poie

to

paraktw

kritrio

leitourgikc

apdoshc,

J(u) =
0

y T Q y + uT R u dt

Q = q0 I, R = r0 I, I = [1]
antimetwpzoume dhlad na prblhma

bltistou rujmist exdwn

(LQR control).
Aparathtec proupjeseic gia na mporsoume na efarmsoume

LQR

legqo:

To

ssthma

na

enai

plrwc

elgximo

To

ssthma

na

enai

plrwc

parathrsimo
kai

Exetzontac ti kai oi

ta

mhtra

elegximthtac throntai.

parathrhsimthtac,

sumperanoume

do

proupojseic

bltistoc

nmoc

andrash

enai

thc

morfc:

u = K x

Gia ton upologism tou mhtrou kerdn thc

ja qrhsimopoisoume thn sunrthsh

MATLAB,

lqry

8 6

x 10

K1

4 2 0 0 x 10
5

8 x 10

9
11

q0/r0
10 8 6

K2
4 2 0 0 x 10
4

8 x 10

9
11

q0/r0
8 6

K3

4 2 0 0

8 x 10

9
11

q /r

0 0

Sqma

1:

Metabol

twn

kerdn

anadrashc

gia

auxanmeno

q0 r0

2
Gia

Tpoc rizn sustmatoc kleisto brqou

to ssthma kleisto brqou, oi exisseic katstashc pou isqoun enai:

x = (A B K) x y =C x
fantastik zegoc plwn pol pio kont ston fantastik xona pio grgora
To enai aut pou prosddei ta qarakthri, se sqsh me ton pragmatik plo pou brsketai sto -6.667. pshc na shmeiwje ti to zegoc twn migadikn plwn kinetai ap ton pragmatik plo kajc auxnetai to krdoc.

stik sto ssthma miac kai brsketai

Prpei e-

15

10

Imaginary axis

10

15 7000

6000

5000

4000 Real axis

3000

2000

1000

Sqma

2:

Tpoc

rizn

tou

sustmatoc

kleisto

brqou.

3
Sto

Sugkritikc apokrseic exdou

Sqma 3 apeikonzetai h epdrash pou xei h epilog tou rou

apkrish tou sustmatoc.

apkrish terh <<prospjeia>>

tou kajar sto Sqhma 4.

q0 axhsh tou lgou r0

Bebawc kti ttoio epenerght (hl. kinhtra)

odhge se

sustmatoc. tou

sunepgetai to

kai

taqterh megalfanetai

q0 r0

sthn

opoo

kai

10 8.9 89 890 8900 89000 890000

(o)

20

40 time (s)

60

80

100

Sqma

3:

Sugkritikc

apokrseic

exdou

tou

gia

diaforetikc

timc

tou

q0 r0

80

60 Imax (A)

40

20

0 0 10

10

10 q0/r0

10

Sqma 4:

Mgisth ntash rematoc ston kinhtra gia diaforetikc timc tou

q0 r0

Ikanopohsh krithrwn sqedashc

Se aut th fsh thc sqedashc prpei na frontsoume h ntash tou rematoc

i na mhn xepern to rio koresmo twn 82A q0 81.7A r0 = 890000

odhge se mgisto rema . Epomnwc nmoc andrashc enai,

Epilgontac nac

lgo

ikanopoihtikc

K=

2.2562 104 943.3981 2.5070 103

Metabol dekth leitourgikc apdoshc

J = min J(u)
u

10

10

10

10

J*

10

10

10

10

10

10

10

10 q0/r0

10

10

10

Sqma

5:

sunartsei

tou

q0 r0

Mroc

II

Anlush Sustmatoc gia Ulopohsh se Mikroupologist

1
H

Epilog qrnou deigmatolhyac

epilog tou qrnou deigmatolhyac pou ja epilxoume gia thn yhfiak

ulopohsh tou sustmatoc elgqou ja exarthje ap to fsma twn suqnottwn tou smatoc tou elgqou

u = K x

Analwntac to

me

qrsh 1.

FFT

to

sma

elgqou

suneqoc

sustmatoc

prkuptei

digramma

Power Spectrum of u=Kx 250 200 150 100 50 0 0

Power

0.5

1 1.5 2 Frequency (Hz)

1: Fsma suqnottwn smatoc

2.5

Sqma

elgqou.

H thn

anlush

tou

smatoc

gine se

mqri aut

T = 20s
to qrno

kajti to

pwc

blpoume breje

ap sth

apkrish

tou

sustmatoc .

ssthma

qei

mnimh katstash

Response to Initial Conditions

0.15

Amplitude

0.1

0.05

0 0 5 10 Time (seconds)
sustmatoc

15

20

Sqma

2:

Apkrish

suneqoc

qrnou.

10

Basizmenoi

sto

digramma

kai

qontac

kat

nou

to

Jerhma Deig-

matolhyac

epilgoume

suqnthta

deigmatolhyac

fs = 2 2.5 = 5Hz

Ts =

1 = 0.2s fs

11

Ssthma Diakrito Qrnou

'Eqontac epilxei qrno deigmatolhyac mporome na brome to ssthma

diakrito qrnou pou antistoiqe sto ssthm suneqoc qrnou pou perigrfetai ap tic diaforikc ap na exisseic 1 kai 2. To ssthma thc diakrito qrnou ja

perigrfetai

ssthma

exissewn

diafor

morfc:

xk+1 = (Ts ) xk + G(Ts ) uk

pou,

xk =
Sthn perptws mac gia

ik k k
prokptei:

2.7 109 1.799 108 = 8.999 108

Ts = 0.2s 0 0.03 1 0.2 , G = 0 0.9999

0.5 5.991 106 5.995 105

12

Elegximthta kai Parathrhsimthta Sustmatoc ap Deigmatolhptik Dedomna

Gia ton legqo thc elgximthtac kai thc parathrhsimthtac tou sustmatoc

katafegoume

stic

antstoiqec

entolc

thc

Matlab.

1 2 3 4 5 6 7 8 9

Co=c t r b ( Phi ,G) ; %Number o f u n c o n t r o l l a b l e s t a t e s unco=length ( Phi )rank ( Co ) Ob = obsv ( Phi ,G) ; % Number o f u n o b s e r v a b l e s t a t e s unob = length ( Phi )rank (Ob)
To apotlesma thc ektleshc tou parapnw kdika:

unco=0 unob =0
Epomnwc to ssthma enai kai

elgximo kai parathrsimo

13

Mroc

III

Sqedash Nmou Elgqou gia Ulopohsh se Mikropologist

Yhfiak Andrash Metablhtn Katstashc

Sth Fsh I ulopoisame legqo me andrash metablhtn katstashc gia to

suneqc thc

montlo

tou

sustmatoc. na

Sth

Fsh ton

II

brkame

to

diakrit

montlo

egkatstashc.

Gia

ulopoisoume

legqo

metablhtn

katstashc

pou brkame gia to suneqc montlo prpei na brome tou antstoiqouc plou tou suneqoc sustmatoc kleisto brqou sto diakrit eppedo.

z = eTs s Ts = 5 104 s
Ap touc plouc tou suneqoc sustmatoc:

6.6667 103 0.0004 103 + 0.0004 103 i 0.0004 103 0.0004 103 i
Prokptoun oi paraktw ploi diakrito sustmatoc kleisto brqou:

0.0357 0.9998 + 0.0002i 0.9998 0.0002i

14

0.4

0.3

0.2

Imaginary axis

0.1

0.1

0.2

0.3

0.4 7000

6000

5000

4000 Real axis

3000

2000

1000

Sqma

1:

Ploi

suneqoc

sustmatoc

kleisto

brqou.

2 1.5 1 0.5 0 0.5 1 1.5

x 10

Imaginary axis

2 0

0.1

0.2

0.3

0.4

0.5 Real axis

0.6

0.7

0.8

0.9

Sqma

2:

Ploi

diakrito

sustmatoc

kleisto

brqou.

15

Gia na upologsoume to krdoc andrashc pou topojete touc plouc tou sustmatoc stic jseic pou upologsame prin qrhsimopoiome thn entolc thc

Matlab place KD =
To antstoiqo

2.2496 104 937.9073 2.4997 103

kerdn gia th suneq ulopohsh

dinusma

K=
Parathrome ti

2.2498 104 938.0832 2.4999 103

kai stic do periptseic ta krdh enai praktik ta dia.

16

10 ( ) 5 0 5 0 10 ( ) ( )
o o

Continuous Discrete

10

Continuous 5 0 5 0 10 20 Time (s)

Sugkritik

15 Time (s) 10 5 0 5 0

20

25 Discrete

30

30

10 20 Time (s)
diakrito

30

Sqma

3:

apkrish

suneqoc

kai

sustmatoc.

17

2
Me thn

Ektmhsh Katstashc msw Parathrht

thn eisagwg tou parathrht sto qro to ssthma gnetai kthc txhc kai qei

paraktw

perigraf

katstashc:

xk x

=
61

(s G KD )33 (G KD )33 [0]33 ( L C)33 x=xx

66

xk x

61

To

upologzetai . Oi Sto

antstoiqa

me

to

KD

basizmenoi to

sthn

Arq thc
na sugklnei 10 forc

duadikthtac
grgora sto 0.

ploi

epilgontai pedo

tsi

ste

sflma

suneqc

sunhjzame

na

touc

parnoume

megalterouc ap autoc tou sustmatoc kleisto brqou. ttoio antistoiqe me ywsh sth dkath dnamh.

Sto diakrit kti

H apkrish tou sustmatoc andrashc me parathrht qei plon 6 arqikc sunjkec, Gia exarttai dhlad kai ap to arqik h sflma ektmhshc enai to dia

. au tou ame

mhdenik

arqik

sflma

ektmhshc

apkrish 'Oso

me

sustmatoc poklenei

andrashc to 0

metablhtn

katstashc. kai h

arqik

sflma

apo

tso

diaforopoietai

apkrish

tou

sustmatoc

parathrht.

Gia

x (0) =

10

180

18

10 8 6 ( )
o

State Variable Feedback State Variable Estimate Feedback

4 2 0 2 0

10

15 Time (s)
me

20

25

30

Sqma

4:

Sgkrish

apokrsewn

qwrc

parathrht.

19