3

PI

3. 0

3. 1

f(t )

f(nT)

1 2 3 4

N(nT)

1A/D

2 D/A

D/A

3.2

3.2.0

1.
2.

3.

1.

AC

A/D

TA
/ 3

U*

U*n

ASR

Ui

Uc
ACR

Un

A/D

TG
D/A

A/P

--

2.
AC

TA

A/D

/ 3

U**nn
U

ASR

Ui
U
*
*
U
U ii ACR

- U
Un
_

P/D

Uc
U

PLG
D/P

3.
AC

TA

A/D

/ 3

U**n +
U

U**
ASR

Uii

ACR

Unn

P/D

U
Ucc

PLG
D/P

PI

3.2.1

3-4

3-4 PWM

UPE
PWM

A/D

1.

A/D

TG

A/D

I/O

CPU

CPU

2
+5V

PLG

2.

A/D


1
~
A

Ui

Ui0

2
R11

U H = KH B I c

UH R0
H

Id

Ic

Ui

HL

KH
B

Ic
+

A1


R11
R

Ro
Ro

+15V
A1

Ui

+ 5V

UA

R6
R6

RR2
2
UUB

R5
R5

A/D

A2

RR3
3

R4
R4

Uia
U
ia

DSP
Intel 8X196MCTMS320X240

A/DI/O

PWM

A/D

a)

b)

+V
A/D

I/O

BCD/
7

LED
8

A0-3

81

INT
8279
CPU

D0-7

3
S0-3

CLK
81
R0-7
8

D/A

Intel8X196MC
TITMS320X240
PWM

3.2.2

1.

3-5

2.

3-6

PWM

I/O

3-5

3-6

PWM
PI,
CPU

PWM

A/D

PWM

3-7

3-8

3-9

3.3

M/T

3.3.1
1

n1 n2

Q = n1 - n2 /
Q
Q

100%
n

3-7

3 Tc

3.3.2
1.


Z1

2.

P/D
1M
2T
3M/T

3. M

PLG

TcCPU
INTt

CPU
M1

M
n

PLG

CLK

Counter

Bus

Timer

INTt

Tc
M1

...

60M 1
n
ZTc

ZPLG

M
60( M 1 1) 60M 1 60
Q

ZTc
ZTc
ZTc

3-1

M
60M 1 60( M 1 1)
ZTc
ZTc
1
max
100%
100%
60M 1
M1
ZTc
Z Tc n
Z
1

4. T

CPU
f0
PLG
CPU

CPU INTn

M2

INTn
PLG

CPU
Conter

f0

PLG

m2
f0

60 f 0
n
ZM 2

T
60 f 0
60 f 0
60 f 0
Q

Z ( M 2 1) ZM 2 ZM 2 ( M 2 1)

3-2

max

60 f 0
60 f 0
1
Z ( M 2 1) ZM 2

100%
100%
60 f 0
M 2 1
ZM 2

M2
T

M
T

Tc
M1
M2
M/T

5. M/T

BUS

T0

M1

C0 O0 G0

C1

M2
G1

C2

G2

f0
Start
J

SET

K CLR Q

SET

K CLR Q

INTn
PLG

T0

M1PLG

M2

Tn
T0, m1

PLG
Start
G1
G0,G2
INTn
O0
m2
f0

M/T

M1M2

Tc

M1M2

60M 1 60M 1 f 0
n

r/min
ZTt
ZM 2

3-3

60 f 0 M 1
Q
ZM 2 ( M 2 1)

M/TT
M/TT M1 M1

M/T


M/TM1M2
M
M1=1T

M/T

3.4 PI
PI
PI
PI

3.4.1 PI

PI

 PI
U ( s)
s 1
Wpi ( s)
K pi
E ( s)
s

3-13

PI
u (t ) K pi e(t )

e(t )dt K

Kp= Kpi
KI =1/

e(t ) K I e(t )dt 3-14

 PI
k
k

u (k ) K P e(k ) K ITsam e(i ) K P e(k ) uI (k )

i 1

K P e(k ) K ITsam e(k ) uI (k 1)

Tsam

3-15

 PI

(3-15)

PIPI

PI

u (k ) u (k ) u (k 1) K P e(k ) e(k 1) K ITsam e(k )

3-17

PI
u( k ) u( k 1) u( k )

3-18

u
u m u(k) >u m u m

PI

PID

3.4.2 PI
PI

PI
PI

PI

PI

1.

P I

2.

u (k ) K p e(k ) CI K ITsam e(i )

3-19

i 1

1,

CI
0,

e(i )
e(i )

3.4.3 PI
PI

3.5

3.5.1

U*
U*n

WASR(Z)

_
Unn

Uii**

WACR(Z)

_
Uii

1 e Tsam
s
Tsam

Tsam

Ud0

_
1/ R
Tl s 1

Id

IIdL
dL
_
R
Tm s

1
Ce

PI

1 e Tsam s
G0 ( s )
s

Tsam

3-25

I
IIdL
dL

KKnn**

Tsam s

1 e
s

ASR

TTsam
sam

Tsam
sam
K
Ton s 1

1 K
2Ti s 1

IIdd

R
C eTm s

GI s

1 K
2T i s 1

3-23

K
Gnf s
Ton s 1

3-24

3.5.2
1

 Shannon
Shannon fsam
fmax 2

fsam 2 fmax

1
Tsam
Tmin
(4 ~ 10)

Tmin
sam
sam (4 ~ 10)c
c

Z
W

Im

Im

Z
Re

-1

ze

sT

Re

Im

Im

W
-1

Re

1 w
z
1 w

Re

WS

Im

Im

W
Re

T
w j sam
2

Re

WS

3.5.3

K
1 eTsams 1 K
R
K n 1 eTsams
Gobj s

2
s
2T i s 1 CeTm s Ton s 1 s Ton s 12T i s 1

RK
Kn
K CeTm

Tn = Ton + 2Ti

(3-27)

K n 1 e Tsam s
Gobj s 2
1 e Tsam s Gsub s
s T n s 1

Kn
Gsub s 2
s T n s 1

(3-28)

 z
z
Z [Gobj ( s)] Z [Gsub ( s) e Tsams Gsub (s)] Z [Gsub (s)] Z [e Tsams Gsub (s)]

z
Gobj ( z ) Z [Gobj (s)] Z [Gsub (s)] z 1 Z [Gsub (s)] (1 z 1 )Gsub ( z )
(3-29)

z
K Z ( z z1 )
Gobj z
Tsam / Tn
( z 1)( z e
)

(3-30)


Tsam
K z K nTn
Tn

1 e
z1

Tsam Tn

Tsam
Tsam Tn

K RTn
1 e
Tn
Tsam Tn

1 e
KCeTm

Tsam Tsam Tn

e
Tn

Tsam
1
e Tsam Tn
Tn

Im

p1= 1

p2 e

Tsam / Tn

z1

p2

z1

-1

p1

Re

3.5.4
PI

PI


1Z

2WWz

3
s
Bode

K ITsam z K p K ITsam z K p
3-35
GASR z K p

z 1
z 1

GASR z Gobj z

K z K p K ITsam z K p z z1

z 12 z e T

sam

Tn

3-36

w
1 w
z
1 w

G0 w

K z 2 K p K ITsam w K ITsam 1 z1 w 1 z1 1 w

4w 1 e
2

Tsam T n

w 1 e

Tsam T n

3-37

Tsam
w j

j 1 1 j 4 11 j 3
G0 j K 0
2
( j ) j 2 1

3-37


K0

K z K I 1 z1

1 e

Tsam T n

sam

2K I

1 2 K p K ITsam
1

2
Tsam

( s 2 )

( s 1 )

(s )

1 e

Tsam T n

1 e

Tsam T n

1 z1 2

4 1 z1 Tsam
1

Tsam
( s 1 )

( s 1 )

Kz2
3 4 1 K0

1 K0


w w
w

s
w s

L 20 lg K 0 20 lg

1 2 1 20 lg 4 2 1 20 lg

20 lg 2 20 lg ( 2 ) 2 1

( 3 ) 2 1

3-39a

( ) 180 arctg1 arctg 4 arctg 3 arctg 2

3-39b


1 K0

3-23-21

2
PIDPI