用户手册目录Xmath Interactive Control Design Module1Support2Worldwide Technical Support and Product Information2National Instruments Corporate Headquarters2Worldwide Offices2Important Information3Warranty3Copyright3Trademarks3Patents3WARNING REGARDING USE OF NATIONAL INSTRUMENTS PRODUCTS3Conventions4Contents5Chapter 1 Introduction11Using This Manual11Document Organization11Commonly-Used Nomenclature13Related Publications13MATRIXx Help14ICDM Overview14SISO Versus MIMO Design14Starting ICDM14Chapter 2 Introduction to SISO Design16SISO Design Overview16Basic SISO Terminology16Figure 2-1. Standard Classical Feedback Configuration Used in ICDM16Overview of ICDM18ICDM Windows18ICDM Main Window19PID Synthesis Window19Root Locus Synthesis Window19Pole Place Synthesis Window19LQG Synthesis Window20H-Infinity Synthesis Window20History Window20Alternate Plant Window20Key Transfer Functions and Data Flow in ICDM20Summary21Origin of the Controller21What the ICDM Main Window Plots Show22Controller/Synthesis Window Compatibilities22Using ICDM24Figure 2-2. Simple Representation of the Interactive Design Loop24Figure 2-3. Simple Representation of the Interactive Robustness Analysis25Figure 2-4. Simple ICDM Session26General Plotting Features26Ranges of Plots and Sliders26Zooming27Data-Viewing Plots27Interactive Plot Re-ranging28Graphically Manipulating Poles and Zeros28Editing Poles and Zeros28Editing Poles and Zeros Graphically29Complex Poles and Zeros29Isolated Real Poles and Zeros29Nonisolated Real Poles and Zeros and Almost Real Pairs29Adding/Deleting Poles and Zeros30Adding/Deleting Pole-Zero Pairs30Chapter 3 ICDM Main Window32Window Anatomy32Figure 3-1. ICDM Main Window33Communicating with Xmath33Most Common Usage34Default Plants34Saving and Restoring an ICDM Session34Reading Another Plant into ICDM34Reading a Controller from Xmath into ICDM35Writing the Plant Back to Xmath35Writing the Alternate Plant back to Xmath35Writing a Controller on the History List to Xmath35ICDM Plots36Selecting Plots36Figure 3-2. ICDM Main Window Plot Choices Dialog36Ranges of Plots37Figure 3-3. ICDM Ranges Window38Plot Magnify Windows38Figure 3-4. Plot Magnify Window39Selecting a Synthesis or History Window40Edit Menu40Chapter 4 PID Synthesis41Window Anatomy41PID Controller Terms41Table 4-1. PID Controller Terms and Parameters41Toggling Controller Terms On and Off42Figure 4-1. PID Synthesis Window43Opening the PID Synthesis Window44Manipulating the Controller Parameters44Time Versus Frequency Parameters45Ranges of Sliders and Plots45Controller Term Normalizations45Integral Term Normalization45Derivative Term Normalization46Rolloff Term Normalization46Chapter 5 Root Locus Synthesis47Overview47Window Anatomy47Figure 5-1. Root Locus Synthesis Window48Opening the Root Locus Synthesis Window49Terminology49Plotting Styles50Figure 5-2. Root Locus Select Dialog for Choosing Plotting Style50Phase Contours51Magnitude Contours51Slider and Plot Ranges52Manipulating the Parameters52Design53Adding a Pole-Zero Pair53Deleting Pole-Zero Pairs53Interpreting the Nonstandard Contour Plots54Figure 5-3. Root Locus Synthesis Window with the 0 dB Magnitude Contour55Chapter 6 Pole Place Synthesis56Window Anatomy56Figure 6-1. Pole Place Synthesis Window57Pole Place Modes57Normal Mode58Integral Action Mode59State-Space Interpretation60Opening the Pole Place Window60Manipulating the Closed-Loop Poles60Time and Frequency Scaling60Butterworth Configuration61Editing the Closed-Loop Poles61Slider and Plot Ranges61Chapter 7 LQG Synthesis62LQG Synthesis Window Anatomy62Figure 7-1. LQG Synthesis Window63Synthesis Modes64Opening the LQG Synthesis Window64Setup and Terminology65Figure 7-2. Block Diagram Showing the Basic Setup for LQG Synthesis65Standard LQG (All Toggle Buttons Off)65Integral Action66Exponential Time Weighting66Output Weight Editing67State-Space Interpretation68Manipulating the Design Parameters68Manipulating the Design Parameters Graphically68Ranges69Chapter 8 H-Infinity Synthesis70H-Infinity Synthesis Window Anatomy70Figure 8-1. H-Infinity Synthesis Window71Opening the Synthesis Window72Setup and Synthesis Method72Figure 8-2. Block Diagram Showing the Basic Setup for H-Infinity Synthesis73Central H-Infinity Controller73Output Weight Editing74Manipulating the Design Parameters75Manipulating the Weight Transfer Function75Infeasible Parameter Values75Ranges76Chapter 9 History Window77Saving the Current Controller on the History List77Opening the History Window77History Window Anatomy77Selecting the Active Controller78Figure 9-1. History Window78Editing the Comments78Deleting History List Entries79To Continue Designing from a Saved Controller79Cycling Through Designs79Writing a Saved Design to Xmath79Using the History List80Chapter 10 Alternate Plant Window81Role and Use of Plant and Alternate Plant81Displaying the Alternate Plant Responses81Alternate Plant Window Anatomy82Figure 10-1. Alternate Plant Window83Opening the Alternate Plant Window83Normalization84Manipulating the Parameters84Using the Alternate Plant Window85Robustness to Plant Variations85Adding Unmodeled Dynamics85Ranges of Sliders and Plot86Chapter 11 Introduction to MIMO Design87Basic Terminology for MIMO Systems87Feedback System Configuration87Figure 11-1. Standard Feedback Connections and Signals for MIMO Design88Transfer Functions88Integral Action90Overview of ICDM for MIMO Design91ICDM MIMO Windows91Main Window91Figure 11-2. Plot Choices Window for the MIMO Case92MIMO Plot Window92Figure 11-3. Complete Set of Plot Choices93History Window93Alternate Plant Window (MIMO Version)93Figure 11-4. MIMO Plot Window with a Step Response Plot of the Transfer Function94Chapter 12 LQG/H-Infinity Synthesis95Window Anatomy95LQG/H-Infinity Main Window95Figure 12-1. LQG/H-Infinity Main Window96LQG/H-Infinity Weights Window96Figure 12-2. LQG/H-Infinity Weights Window97Decay Rate Window99Figure 12-3. LQG/H-Infinity Decay Rate Window99H-Infinity Performance Window99Figure 12-4. LQG/H-Infinity Performance Level Window100Frequency Weights Window100Figure 12-5. LQG/H-Infinity Frequency Weights Window101Synthesis Modes and Window Usage101Opening the LQG/H-Infinity Synthesis Window102Setup and Terminology102Figure 12-6. LQG/H-Infinity Control Design Configuration104Standard LQG (All Toggle Buttons “Off”)105Integral Action105Exponential Time Weighting106Weight Editing106How to Select w, u, y, and z107H-Infinity Solution108Manipulating the Design Parameters110Main Window110Ranges111Chapter 13 Multi-Loop Synthesis112Multi-Loop Window Anatomy112Figure 13-1. Multi-Loop Main Window113Figure 13-2. Multi-Loop Gain and Phase Plots Added to the ICDM Main Window114Setup and Synthesis Method114Multi-Loop Versus Multivariable Design114Figure 13-3. Standard Feedback Connection115Figure 13-4. Multi-Loop Configuration with 3-Sensor and 2-Actuator Plant116Figure 13-5. Root Locus Window During the Multi-Loop Design117Opening the Multi-Loop Synthesis Window118Designing a Multi-Loop Controller118Graphical Editor118Selecting and Deselecting Loops118Editing and Deleting Loops119Loop Gain Magnitude and Phase119Appendix A Using an Xmath GUI Tool120Figure A-1. Programmable GUI Examples121Figure A-2. Programmable GUI Examples Do It Dialog122Figure A-3. PGUI Example Dialog after Pressing the 12 Button124Appendix B Technical Support and Professional Services126Index127A-F127G-P128R-Z129文件大小: 1.1 MB页数: 129Language: English打开用户手册