5
() , . , . , . , . , .. , . , , . ‑ . . , , .
.
. . . , . , ‑ , .
, , , , . , .
,
u(kh)=-r1u[(k-1)h]--rnu[(k-n)h]+
+t0u(kh)+t1u[(k-1)h]+ +tnu[(k-n)h]- (1.31)
-s0y(kh)-s1y[(k-1)h]- -sny[(k-n)h]
u ‑ ( , u ‑ () , ‑ ( ) . n . n =2. , , .
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. , . "" . , (feedforward control).
(. 1.5)
. 1.7. .
, , .
, , , , . (feedforward from process disturbances), . . .
.
. . , , ‑ .
, , , . , .
, :
, . "" , , .
, .
. - , .
, .
, :
.
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‑ .
, .
() , .
(Proportional-Integral-Derivative). , . , , .
-
(1.32)
u0 (), e(t) , K , Ti , Td .
- , K, Td, Ti . , , . () .
‑ . (position form) . -
u(k∙h) =u0 + up(k∙h) + ui(k∙h) + ud(k∙h) (1.33)
u0. (1.32)
up(k∙h)=K∙e(k∙h) (1.34)
(1.35)
(1.36)
(1.35) h Ti , , . -
(1.37)
0<β<1.
-, . (incremental form) - , , , . (k-l)h k∙h.
Δu(kh)=Δup(k∙h)+Δui(kh)+Δud(kh) (1.38)
Δup(k∙h)=up(k∙h)-up[(k-1)h]=K∙[e(k∙h)-e[(k-1)∙h]=K∙Δe(k∙h) (1.39)
Δui(k∙h)=ui(k∙h)-ui[(k-1)h]=K∙α∙e(k∙h) (1.40)
(1.41)
. , , . - . . , , . , , .
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.
. . , . , , . , . , , . , ( 8 16), .
/ . , .. , , , .