槽式系统的控制

A1 = 0.0256;%的槽1 (hunits ^ 2)A2 = 0.0477;%的坦克2 (hunits ^ 2)h2 = 0.241;%柜高度2,固定溢出(hunits)fb = 3.28 e-5;%偏差流流(hunits ^ 3 /秒)fs = 0.00028;%流扩展(hunits ^ 3 /秒/ funit)th = 1.0;%热水供应临时(tunits)tc = 0.0;%冷水供应临时(tunits)结核病= tc;%冷偏差流临时(tunits)α= 4876;%恒流/高度关系(hunits / funits)β= 0.59;% (hunits)恒流/高度关系

h1ss = 0.75;%对水箱水位1t1ss = 0.75;%的温度箱1f1ss = (h1ss +β)/α;%流槽1 - >坦克2fs = (th, tc, 1, 1) \ [t1ss * f1ss; f1ss];fhss = fs (1);%热流fcs = fs (2);%冷流t2ss = (f1ss * t1ss + fb *结核病)/ (f1ss + fb);%的温度槽2

一个= 1 / (A1 *α),0;(β* t1ss) / (A1 * h1ss)、- (h1ss +β)/(α* A1 * h1ss)];B = f * [1 / (A1 *α),1 / (A1 *α);th / A1, tc / A1];C =[α,0;t1 * t1ss / h1ss, 1 / h1ss];D = 0 (2, 2);tank1nom = ss (A, B, C, D,“InputName”,{“跳频”,“俱乐部”},“OutputName”,{“标题”,“t1”});clf步骤(tank1nom)、标题(的一步反应罐1 ')

= - (h1ssα+β+ * fb) / (A2 * h2 *α);B = [(t2ss + t1ss) /(α* A2 * h2), (h1ss +β)/(α* A2 * h2)];C = 1;D = 0 (1、2);tank2nom = ss (A, B, C, D,“InputName”,{“标题”,“t1”},“OutputName”,《终结者2》);步骤(tank2nom)、标题(“坦克2步反应”)

act_BW = 20;%致动器带宽(rad /秒)致动器=[特遣部队(act_BW [1 act_BW]);特遣部队([act_BW 0], [1 act_BW])];致动器。OutputName = {“流”,“流量”};bodemag(执行机构)标题(阀门执行机构动力学的)hot_act =执行机构;集(hot_act,“InputName”,“fhc”,“OutputName”,{“跳频”,“fh_rate”});cold_act =执行机构;集(cold_act,“InputName”,“fcc”,“OutputName”,{“俱乐部”,“fc_rate”});

fbw = 2.25;%抗混叠滤波器截止(赫兹)过滤器= mkfilt (fbw 4“Butterw”);h1F =过滤器;t1F =过滤器;t2F =过滤器;

Wh1 = 0.01 +特遣部队([0.5,0],[0.25,1]);Wt1 = 0.1 +特遣部队((20 * h1ss 0], [0.2, 1]);Wt2 = 0.1 +特遣部队([100,0],[1,21]);clf bodemag (Wh1 Wt1、Wt2)、标题(的相对边界建模错误的)传说(“h1动力学”,“t1动力学”,“t2动力学”,“位置”,“西北”)

%归一化误差动力学delta1 = ultidyn (“delta1”[1]);delta2 = ultidyn (“delta2”[1]);delta3 = ultidyn (“delta3”[1]);%在h1频率相关的可变性,t1, t2动力学varh1 = 1 + delta1 * Wh1;vart1 = 1 + delta2 * Wt1;vart2 = 1 + delta3 * Wt2;%添加可变性名义模型tank1u = append (varh1 vart1) * tank1nom;tank2u = vart2 * tank2nom;tank1and2u = [0 1;tank2u] * tank1u;

步骤(tank1u, 1000)、标题(由于建模误差的变化反应(罐1)”)

Wh1noise = zpk (0.01);重量% h1噪音Wt1noise = zpk (0.03);重量% t1噪音Wt2noise = zpk (0.03);重量% t2噪音

Wt1perf =特遣部队(100年,[1]400年);% t1跟踪误差的重量Wt2perf =特遣部队(50,[1]800年);% t2跟踪误差的重量clf bodemag (Wt1perf Wt2perf)标题(“定位点跟踪错误频率相关处罚”)传说(“t1”,《终结者2》)

Wt1cmd = zpk (0.1);重量% t1输入命令Wtdiffcmd = zpk (0.01);重量% t2 - t1输入命令

Whact = zpk (0.01);%热致动器点球Wcact = zpk (0.01);%冷致动器点球Whrate = zpk (50);%热致动器速度惩罚Wcrate = zpk (50);%冷致动器速度惩罚

输入= {“t1cmd”,“tdiffcmd”,“t1noise”,“t2noise”,“fhc”,“fcc”};输出= {“y_Wt1perf”,“y_Wt2perf”,“y_Whact”,“y_Wcact”,…“y_Whrate”,“y_Wcrate”,“y_Wt1cmd”,“y_t1diffcmd”,…“y_t1Fn”,“y_t2Fn”};hot_act。InputName =“fhc”;hot_act。OutputName = {“跳频”“fh_rate”};cold_act。InputName =“fcc”;cold_act。OutputName = {“俱乐部”“fc_rate”};tank1and2u。InputName ={“跳频”,“俱乐部”};tank1and2u。OutputName = {“t1”,《终结者2》};t1F。InputName =“t1”;t1F。OutputName =“y_t1F”;t2F。InputName =《终结者2》;t2F。OutputName =“y_t2F”;Wt1cmd。InputName =“t1cmd”;Wt1cmd。OutputName =“y_Wt1cmd”;Wtdiffcmd。InputName =“tdiffcmd”;Wtdiffcmd。OutputName =“y_Wtdiffcmd”;Whact。InputName =“跳频”;Whact。OutputName =“y_Whact”;Wcact。InputName =“俱乐部”;Wcact。OutputName =“y_Wcact”;Whrate。InputName =“fh_rate”;Whrate。OutputName =“y_Whrate”;Wcrate。InputName =“fc_rate”;Wcrate。OutputName =“y_Wcrate”;Wt1perf。InputName =“u_Wt1perf”;Wt1perf。OutputName =“y_Wt1perf”;Wt2perf。InputName =“u_Wt2perf”;Wt2perf。OutputName =“y_Wt2perf”;Wt1noise。InputName =“t1noise”;Wt1noise。OutputName =“y_Wt1noise”;Wt2noise。InputName =“t2noise”;Wt2noise。OutputName =“y_Wt2noise”;sum1 = sumblk (' y_t1diffcmd = y_Wt1cmd + y_Wtdiffcmd ');sum2 = sumblk (' y_t1Fn = y_t1F + y_Wt1noise ');sum3 = sumblk (' y_t2Fn = y_t2F + y_Wt2noise ');sum4 = sumblk (“u_Wt1perf = y_Wt1cmd - t1”);sum5 = sumblk (“u_Wt2perf = y_Wtdiffcmd + y_Wt1cmd - t2 ');%这生产状态空间模型的不确定性P =连接(tank1and2u hot_act、cold_act t1F, t2F, Wt1cmd, Wtdiffcmd, Whact,…Wcact, Whrate、Wcrate Wt1perf、Wt2perf Wt1noise, Wt2noise,…sum1、sum2 sum3、sum4 sum5,输入、输出);disp (的加权开环模型:)P

n mea = 4;%的测量nctrls = 2;%的数量控制[k0, g0 gamma0] = hinfsyn (n mea, P.NominalValue nctrls);gamma0

输入= {“t1ref”,“t2ref”,“t1noise”,“t2noise”,“fhc”,“fcc”};输出= {“y_tank1”,“y_tank2”,“fhc”,“fcc”,“y_t1ref”,“y_t2ref”,…“y_t1Fn”,“y_t2Fn”};hot_act (1)。InputName =“fhc”;hot_act (1)。OutputName =“y_hot_act”;cold_act (1)。InputName =“fcc”;cold_act (1)。OutputName =“y_cold_act”;tank1nom。InputName = [hot_act (1)。OutputName cold_act (1) .OutputName];tank1nom。OutputName =“y_tank1”;tank2nom。InputName = tank1nom.OutputName;tank2nom。OutputName =“y_tank2”;t1F。InputName = tank1nom.OutputName (2);t1F。OutputName =“y_t1F”;t2F。InputName = tank2nom.OutputName;t2F。OutputName =“y_t2F”;I_tref = zpk(眼(2));I_tref。InputName = {“t1ref”,“t2ref”};I_tref。OutputName = {“y_t1ref”,“y_t2ref”};sum1 = sumblk (' y_t1Fn = y_t1F + t1noise ');sum2 = sumblk (' y_t2Fn = y_t2F + t2noise ');simlft =连接(tank1nom、tank2nom hot_act (1) cold_act (1) t1F, t2F, I_tref, sum1, sum2、输入、输出);%关闭循环的h∞控制器| k0 |sim_k0 =融通(simlft k0);sim_k0。InputName = {“t1ref”;“t2ref”;“t1noise”;“t2noise”};sim_k0。OutputName = {“标题”;“t1”;《终结者2》;“fhc”;“fcc”};

时间= 0:800;t1ref =(> = 80 &时间< 100)。*(时间- 80)* -0.18/20 +…(> = 100)* -0.18;t2ref =(> = 80 &时间< 100)。*(时间- 80)* -0.2/20 +…(> = 100)* -0.2;t1noise = Wt1noise。k * randn(大小(时间));t2noise = Wt2noise。k * randn(大小(时间));y = lsim (sim_k0 [t1ref;t2ref;t1noise;t2noise)、时间);

h1 = h1ss + y (: 1);t1 = t1ss + y (:, 2);t2 = t2ss + y (:, 3);fhc = fhss / fs + y (:, 4);%注意伸缩执行机构fcc = fcs / fs + y (:, 5);%的限制(0 < = fhc < = 1)等。

情节(h1,“——”、时间t1,“- - -”、时间、t2,“-”。);包含(的时间(秒))ylabel (“测量”)标题(k0 h∞控制器的阶跃响应)传说(“标题”,“t1”,《终结者2》);网格

情节(时间、fhc“- - -”、时间、fcc、“-”。);包含(“时间:秒”)ylabel (“执行机构”)标题(“h∞控制器k0致动器的命令”)传说(“fhc”,“fcc”);网格

clpk0 =融通(P, k0);%计算和情节最坏的增益wcsigmaplot (clpk0{1的军医,1 e2}) ylim (-20 [10])

[kmu, bnd] = musyn (P, n mea, nctrls);

sim_kmu =融通(simlft kmu);y = lsim (sim_kmu [t1ref; t2ref t1noise; t2noise],时间);h1 = h1ss + y (: 1);t1 = t1ss + y (:, 2);t2 = t2ss + y (:, 3);fhc = fhss / fs + y (:, 4);%注意伸缩执行机构fcc = fcs / fs + y (:, 5);%的限制(0 < = fhc < = 1)等。%情节t1 | |和| t2 |以及槽的高度h1 | | 1情节(h1,“——”、时间t1,“- - -”、时间、t2,“-”。);包含(“时间:秒”)ylabel (“测量”)标题(kmuμ控制器的阶跃响应)传说(“标题”,“t1”,《终结者2》);网格

% kmu最糟糕的性能clpmu =融通(P, kmu);wcsigmaplot (clpmu{1的军医,1 e2}) ylim (-20 [10])

选择= wcOptions (“敏感”,“上”);[wcg, wcu wcinfo] = wcgain (clpmu,选择);wcg

wcinfo.Sensitivity