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来源：百度知道 编辑：UC知道 时间：2024/06/20 03:53:47
DESCRIPTION OF THE PREFERRED EMBODIMENT
In the following, a process of deriving a feedback control rule for embodying a repetitive control method, according to an embodiment of the present invention, will be explained. At first, a feedback control rule in the extended system shown in FIG. 2 and consisting of a controlled object and n time delay elements Z-1 connected thereto will be determined.
Referring to FIG. 2, a cyclic target input u(iτ) is applied at intervals of a cycle period T to the input side of the extended system, and the target input u(iτ) is sampled at intervals of a sampling period τ. Symbol iτ (i=0, 1, 2, ---, k+n, ---) each indicate a sampling point. The cyclic target input u(iτ) changes in a single changing pattern (not shown), and the changing pattern is repeated at intervals of a cycle period T. The total number n of the time delay elements Z-1 is equal to or greater than a value obtained by dividing the period T of the target input u(iτ) by
In the following, a process of deriving a feedback control rule for embodying a repetitive control method, according to an embodiment of the present invention, will be explained. At first, a feedback control rule in the extended system shown in FIG. 2 and consisting of a controlled object and n time delay elements Z-1 connected thereto will be determined.
Referring to FIG. 2, a cyclic target input u(iτ) is applied at intervals of a cycle period T to the input side of the extended system, and the target input u(iτ) is sampled at intervals of a sampling period τ. Symbol iτ (i=0, 1, 2, ---, k+n, ---) each indicate a sampling point. The cyclic target input u(iτ) changes in a single changing pattern (not shown), and the changing pattern is repeated at intervals of a cycle period T. The total number n of the time delay elements Z-1 is equal to or greater than a value obtained by dividing the period T of the target input u(iτ) by
描述首选体现在以下、 产生过程体现了一个反馈控制规律重复控制方法 据本发明的体现,将解释. 起初,在延长统治的反馈控制系统图所示. 2、包括一个受控对象时滞分子和NZ型连接1注定. 谈到无花果. 2、 一个循环对象投入铀(iτ)适用每隔一个周期内的方笔的投入 延长制度,目标是投入铀(iτ)每隔一个采样周期采样τ. 象征iτ(一=0,1,2---、氮钾、--)显示每个取样点. 循环指标投入铀(iτ)改变单一格局变化(不显示) 而转变为一个周期内反复每隔汤匙总数N号时间 迟延分子的Z是等于或大于1的值除以该期间笔目标 投入铀(iτ)取样时间τ. 最好迟延分子人数的Z1等于整数所得围捕,即 分数小数计数的表决结果为整体价值多少. 每一方的输出延时氮元素的Z型连接一侧的投入 下一延时单元的Z1 而输出端的N次时延单元的Z-1连接输入方控制 对象1. 1受控对象,这是一种机器人,或者像加工工具,包括一个要素增益,二、 三、其收益是,乙、丙,分别和延时单元的Z1. 输出的延时单元的Z1,显示了受控对象的状态变量的X1 应用方面投入的时间延迟单元的Z-1元甲国通过增益可变 十大(十一1)1受控对象在某一采样点一氮钾是由方程(4),即 由国家十大变数(十一)氮钾采样点上,投入到美国控制的对象(十一)1、 并进一步取得A和B、 肽Y(k)的输出管制对象1人由方程(5),即 由国家十大(k)和可变增益丙