Specify Goals for Interactive Tuning

This example shows how to specify your tuning goals for automated tuning inControl System Tuner。

Use the新目标菜单以创建一个调整目标，例如跟踪要求，干扰拒绝规范或最小稳定性利润率。然后，当您准备好调整控制系统时，请使用Manage Goalsto designate which goals to enforce.

This example creates tuning goals for tuning the sample modelrct_helico。

Choose Tuning Goal Type

InControl System Tuner，在里面Tuningtab, click新目标。Select the type of goal you want to create. A tuning goal dialog box opens in which you can provide the detailed specifications of your goal. For example, select跟踪步骤命令to make a particular step response of your control system match a desired response.

Choose Signal Locations for Evaluating Tuning Goal

Specify the signal locations in your control system at which the tuning goal is evaluated. For example, the step response goal specifies that a step signal applied at a particular input location yields a desired response at a particular output location. Use theStep Response Selection对话框的部分以指定这些输入和输出位置。（其他调整目标类型，例如循环形状或稳定性边距，要求您仅指定一个位置进行评估。指定位置的过程与此处所示相同。）

UnderSpecify step-response inputs, clickAdd signal to list。出现可用输入位置的列表。

If the signal you want to designate as a step-response input is in the list, click the signal to add it to the step-response inputs. If the signal you want to designate does not appear, and you are tuning a Simulink^®model, clickSelect signal from model。

在里面选择信号对话框，构建您想要的信号列表。为此，请单击Simulink模型编辑器中的信号。万博1manbetx您单击的信号出现在选择信号dialog box. Click one signal to create a SISO tuning goal, and click multiple signals to create a MIMO tuning goal.

ClickAdd signal(s)。这选择信号对话框关闭，将您返回到新的调整目标规范对话框。

这signals you selected now appear in the list of step-response inputs in the tuning goal dialog box.

Similarly, specify the locations at which the step response is measured to the step-response outputs list. For example, the following configuration constrains the response to a step input applied attheta-ref并在thetain the Simulink modelrct_helico。

Tip

To highlight any selected signal in the Simulink model, click。To remove a signal from the input or output list, click。When you have selected multiple signals, you can reorder them using和。

Specify Loop Openings

Most tuning goals can be enforced with loops open at one or more locations in the control system. Click将循环打开位置添加到列表to specify such locations for the tuning goal.

Define Other Specifications of the Tuning Goal

这tuning goal dialog box prompts you to specify other details about the tuning goal. For example, to create a step response requirement, you provide details of the desired step response in the所需的响应area of the步骤响应目标dialog box. Some tuning goals have additional options in anOptionssection of the dialog box.

有关指定特定调整目标的字段的信息，请单击在“调谐目标”对话框中。

存储调整的调整目标

When you have finished specifying the tuning goal, click好的在“调谐目标”对话框中。这new tuning goal appears in theTuning Goals数据浏览器的部分。一个新图形打开显示调整目标的图形表示。调整控制系统时，您可以参考该图以图形方式评估调谐系统如何满足调整目标的程度。

Tip

To edit the specifications of the tuning goal, double-click the tuning goal in the Data Browser.

Activate the Tuning Goal for Tuning

保存调整目标后，请单击新目标to create additional tuning goals.

准备好调整控制系统时，请单击Manage Goals选择哪些调整目标是有效的。在里面Manage Tuning Goalsdialog box,积极的is checked by default for any new goals. Clear积极的佛r any tuning goal that you do not want enforced.

您还可以将一个或多个调谐目标指定为Hardgoals.Control System Tunerattempts to satisfy hard requirements, and comes as close as possible to satisfying remaining (soft) requirements subject to the hard constraints. By default, new goals are designated soft goals. CheckHard对于任何目标，都将其指定为艰难的目标。

例如，如果您调整以下配置，Control System Tuneroptimizessteprespgoal1, subject toMarginSgoal1。这tuning goalPolesGoal1is ignored.

在调查不同调整要求之间的权衡时，停用调整目标或将一些目标指定为软要求可能很有用。例如，如果您没有在所有的调整目标和艰苦的情况下获得令人满意的性能，那么您可能会尝试另一种设计，在这种设计中，较少关键的目标被指定为柔软或完全停用。